Design And Simulation Analysis Of 2-UPS/RPR Parallel Mechanism

In the age of industrial automation,in order to ensure the quality and flexibility of manufacturing,the parallel mechanism is the best solution.The unique closed-loop mechanism of the parallel mechanism determines its higher accuracy and lower adaptability,and the parallel mechanism is used in many industrial applications.This article analyzes the kinematics,statics,dynamics and other aspects of the 2-UPS/RPR parallel mechanism.By establishing a solid model in 3D software,then importing it into ADAMS and ANSYS Workbench software for kinematics simulation and finite element simulation.Theoretical research combined with computer simulation provides a strong basis for the application of parallel mechanisms in actual production.In the first section,a systematic analysis of the 2-UPS/RPR parallel mechanism using the topology structure reveals the relationship between the azimuth feature set and the degrees of freedom.First,determining the degree of freedom by analyzing the configuration of the mechanism,and then determining whether the motion pair is negative and whether the selection of the driving pair is reasonable through the idea of stiffening the motion pair.Finally,the mechanism coupling degree is based on the single-open chain principle.In the second section,a complete kinematic analysis of 2-UPS/RPR is carried out to study the geometric form of the mechanism’s movement.First,the spiral theory is used to analyze the motion spiral system of the moving platform,and then the degrees of freedom are obtained.Then using the coordinate transformation method to obtain the inverse position solution,and using the Newton iteration formula to obtain the positive position solution on the basis of the inverse solution.Then using the Jacobian matrix to map the driving sub-velocity to the moving platform and analyze the singular configuration of the mechanism.Finally,it is based on Matlab Work space of software solving mechanism.In the third section,the three-dimensional model of the parallel mechanism is established in SolidWorks and then the kinematics simulation analysis is performed in the ADAMS software.First add constraint conditions,setting the driving function of the motion pair,then analyzing the conditions and debug,and finally using the PostProcessor module for post-processing to obtain a cloud diagram of the end effector and drive sub-displacement,velocity and acceleration curve of the mechanism.According to the cloud diagram,obtain the parallel mechanism Sports performance.In the fourth section,after establishing the static coordinate system of the parallel mechanism,the vector method is used to analyze the components,and the static equilibrium equations of all the parts of the mechanism are obtained by the rod disassembly method,so as to understand the forces on different kinematic pairs on different members of the mechanism.In the fifth section,using Newton-Euler formula to calculate the speed and acceleration of the RPR branch chain,and using the screw theory method to calculate the speed and acceleration of the UPS branch chain.After the solution is completed,the dynamic platform dynamic equation is established and the dynamic simulation is performed.The sixth section,the finite element simulation analysis of the 2-UPS/RPR parallel mechanism,there are three main steps,namely model pre-processing,model solving and model post-processing,including modal analysis and harmonic response analysis,which can be obtained through modal analysis.The deformation of the mechanism under different natural frequencies can be obtained through harmonic response analysis to obtain the response amplitude of the mechanism under a certain excitation.Figure[46]Table[5]Ref[5]...