4-UPU并联机构自由度计算及其运动学分析

在4-UPU并联机构中,由于万向铰在空间中不同的布置方位,导致UPU支链具有3种不同的支链结构;基于这三种支链模式,4-UPU并联机构呈现出24种不同的结构类型,利用螺旋理论分析了其中4种典型的4-UPU并联机构的自由度,得出它们的自由度在2到5之间变化.并选取了4自由度的4-UPU并联机构进行了运动学分析,建立了该机构的位置方程,给出了该机构运动学的正解与反解方法.运用Pro/E软件中的MECHANISM模块进行运动学仿真分析,得到了该机构运动特性随时间变化的曲线.

Degree of Freedom Calculation and Kinematic Analysis of the 4-UPU Parallel Mechanism

Owing to the universal hinge with different layout directions in the space,in the 4-UPU parallel mechanism.three different structures exist in the UPU-ilmp.lt leads to twenty-four different structure types of the 4-UPU parallel mechanism based on the three mode of the UPU-limp.This paper analyzes the DOF of the four typical 4-UPU parallel mechanisms,using screw theory and obtains the change scope of their DOF from two to five.The kinematics of the 4-DOF parallel mechanism is analyzed in the 4-UPU parallel mechanism.The forward and reverse solutions of kinematic analysis are presented.The kinematics of the mechanism is simulated and analyzed by use of the software module of the MECHANISM in Pro/E.The curve changes of the motion characteristics are received at anytime.