| Economic globalization has driven the booming development of manufacturing industry,which has therefore driven the enthusiasm of researchers at home and abroad for kinematic of machinery research.Series mechanism and parallel mechanism have become popular kinematic of machinery research objects respectively.The basic principle of series mechanism has gradually matured and has widely commercial applications.As the "rising star" of machinery,the parallel mechanism still has great research potential,and various theories need to be improved.Over the past half a century,the 6-DOF parallel mechanism represented by Gough-Stewart machinery as the research object,the academic circle and industry have achieved fruitful results.However,the 6 degrees of freedom parallel mechanism has a high degree of motion coupling,the positive solution is very cumbersome,and has very high requirements for the control unit and the execution unit.So it is expensive to build.In order to find a more suitable mechanism for the motion simulator,the paper compares the series mechanism with the parallel mechanism,and select the parallel mechanism as a motion simulator.Based on the motion characteristics of the vehicle on the road and the development of the parallel mechanism,a less degree of freedom parallel mechanism as a motion simulator,which configuration is 2RPS/2UPS.The degrees of freedom,configuration,kinematics and workspace of the 2RPS / 2UPS parallel mechanism were analyzed,and finally applied to the motion simulator and performed the finite element analysis.The results show the feasibility of applying the2RPS/2UPS parallel mechanism to the motion simulator.Firstly,the 2RPS/2UPS parallel mechanism degree of freedom and orientation feature set are analyzed,and the selection of the mechanism driver side is also analyzed,and the reasonable input selection of the mechanism is determined;According to the BKC theory of the spatial mechanism,the coupling degree of the mechanism is analyzed.Finally,the spiral theory is used to analyze the constraints of the parallel mechanism and the degree of freedom of the 2RPS/2UPS parallel mechanism is analyzed by combining with the modified Grübler-Kutzbach formula.Secondly,the kinematic analysis of the parallel mechanism,the equations of mechanism position is established by the closed vector method,and the mechanism position forward solution analysis is conducted by Newton-Laferson iterative method.The first and second order influence coefficient matrix of the parallel mechanism is established,and the linear mapping of the mechanism input space on the workspace velocity and acceleration is obtained.The 2RRS/2UPS mechanism model is established by Adams View software,then using the differential method and Adams View kinematics simulation to determine the correctness of the first-order influence coefficient matrix.Finally,the inverse kinematics simulation based on Adams View to obtain the displacement,velocity and acceleration.Thirdly,the factors that affect the institutional workspace are analyzed.The working space of the parallel mechanism was analyzed using the Monte Carlo method,and the analysis flow chart was drawn,and programmed to obtain the workspace point set diagram based on MATLAB.Then the performance index of the parallel mechanism is analyzed.Fourth,the 2RPS/2UPS parallel mechanism is applied to the motion simulator and illustrated.The 2RPS/2UPS parallel mechanism was applied to the motion simulator,and the finite element analysis of the mechanism,such as mode,statics and kinetic analysis,and the mechanism frequency and stress strain data were obtained.It provides sufficient theoretical support for the practical application of the parallel mechanism simulator.Figure [82] Table [9] Ref [73]... |
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