The Basic Mechanism Analysis Of A Hyper Redundant Metamorphic Parallel Mechanism

The inherent problems of ordinary parallel mechanisms have greatly affected their subsequent development.Researchers have found that the use of redundant drives can not only eliminate the singular problems of the parallel mechanism itself,but also improve the flexibility and operability of the mechanism.It is difficult to adapt to the changing work requirements considering the fixed size and fixed degree of freedom of traditional institutions.Half of the improvement and innovation of the organization is to achieve self-innovation from the perspective of the self.The other half is to look at the future from an external perspective.The development trend,one machine multi-type,one machine multi-energy,one machine multi-purpose is a design idea that is very in line with future production needs.In this context,a new mechanism combining redundant features and metamorphic characteristics was born.The 3-PUPS mechanism is an improved 3-UPS in the common parallel mechanism.The fixed platform is changed to a variable-scale variable-scale platform,so that the performance of the fixed platform can be changed in different working conditions and applications.The ordinary universal pair is improved to the variable universal pair,and the arbitrary transformation of the rotating pair and the universal pair is realized,so that the degree of freedom of the mechanism is diversified,so the mechanism is redundantly variable with the advantages of both metamorphic and redundancy.metamorphic parallel mechanism.Firstly,the mechanism characteristics of the mechanism are analyzed.The designed mechanism can change up to 32 configurations,including different types of institutions such as less freedom,6 degrees of freedom and redundancy,and adopt redundant drive and change.The reasons and implementation methods are discussed in detail,and experimental prototypes are developed based on the analysis of the structure of the mechanism.The metamorphic transformation performance and the scale performance are discussed in depth.Secondly,the vector method is used to analyze the kinematics of the mechanism,and the driving speed of the driving speed such as the moving speed of the moving drive and the rotational speed of the rotational driving and the generalized speed of the moving platform are established.The speed of the Jacobian matrix,based on the principle of virtual work,establishes a static model of the full drive input.Thirdly,using the virtual work principle analysis method to analyze the dynamics of the mechanism,a unified dynamic model capable of expressing 32 configurations is derived.In order to better display the metamorphic characteristics of the model,the model is transformed into a dynamic model of Lagrangian form,so that the mechanism can complete the transformation of the whole model by simply replacing the velocity matrix and the acceleration matrix when switching between different configurations.Finally,the ADAMS virtual simulation software is used to simulate the mechanism.The virtual prototype of the organization is built for motion simulation,and the simulation result curve is generated by the measurement function to verify the dynamic model of the mechanism.