Dynamics Modeling and Analysis of a 5-DOF Parallel Manipulator Arm with Closed Loop Branch Chain
A double closed loop 5-DOF manipulator arm is proposed， which adds a closed loop structure on the basis of（（2-UPS）+U）PU configuration to obtain a new topology configuration 2-UPS+（（2-UPS）+U）PU. The introduction of the closed loop structure enables the mechanism to obtain a higher carrying capacity a...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2020-07-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.07.012 |
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| Summary: | A double closed loop 5-DOF manipulator arm is proposed， which adds a closed loop structure on the basis of（（2-UPS）+U）PU configuration to obtain a new topology configuration 2-UPS+（（2-UPS）+U）PU. The introduction of the closed loop structure enables the mechanism to obtain a higher carrying capacity and provides a new idea for the new topology configuration. The mapping of the velocity of the branch drive，the velocity of the swing angle of the branch and the generalized velocity <italic>V</italic><italic><sub>o</sub></italic> of the moving platform is derived. The decoupling matrix between the independent variable <inline-formula><alternatives><math xmlns:mml="http://www.w3.org/1998/Math/MathML" id="M2"><mover accent="true"><mi mathvariant="bold-italic">q</mi><mo>˙</mo></mover></math><graphic specific-use="big" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="alternativeImage/255554B9-04EA-4867-B1D7-3477EC5039C3-M002.jpg"><?fx-imagestate width="1.77800000" height="3.47133350"?></graphic><graphic specific-use="small" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="alternativeImage/255554B9-04EA-4867-B1D7-3477EC5039C3-M002c.jpg"><?fx-imagestate width="1.77800000" height="3.47133350"?></graphic></alternatives></inline-formula> of the mechanism and the generalized velocity <italic>V</italic><italic><sub>o</sub></italic> of the moving platform is established. The mapping between the velocity of the center of mass of the swing bar，the expansion bar and the generalized velocity <italic>V</italic><italic><sub>o</sub> </italic>of the moving platform in the branch chain of the mechanism is established. Based on the principle of virtual work，the dynamics model of the mechanism is established and transformed into a dynamics model with Lagrange dynamic form. The virtual prototype model of the mechanism is established in Adams simulation software，and the correctness of the derived dynamics model is verified by simulation. |
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| ISSN: | 1004-2539 |