Jixie chuandong (May 2020)
Research of Design and Kinematic Characteristic of a 3-UPS/RPP Parallel Mechanism
Abstract
Abstract A new 3-DOF parallel mechanism 3-UPS/RPP is designed， which can realize two shifts and one rotation. Based on the traditional 3-UPS structure， a constrained branched chain of RPP structure is added to the structure. The spiral theory is applied to analyze the constrained chain. It is found that the proposed 3-UPS/RPP parallel mechanism can realize one-dimensional rotation and two-dimensional movement in the plane. On the basis of degree of freedom analysis， the kinematics model of 3-UPS/RPP parallel mechanism is further constructed. Through the decomposition analysis of driving and constrained branching chains， the analytical expression of inverse solution of position of 3-UPS/RPP parallel mechanism is given. Based on the results of inverse solution of position， a workspace search process is constructed， and the workspace of the mechanism is solved in Matlab software. Finally， the kinematics control simulation of the 3-UPS/RPP parallel mechanism is carried out. The simulation results show that the system has high dynamic trajectory tracking control accuracy and is suitable for practical application.
