Study on the Dynamics of 2-GRR(FR)/GRR Parallel Deflection Platform

Abstract

A new 2-GRR(FR)/GRR parallel drive bidirectional deflection platform is proposed. The movable platform is connected with the base through two branches which are crisscross and concentric in space，and the platform can deflect at large-angle area in both X and Y directions. Taking one of the branches as the research object，the local coordinate system of each component is established by D-H method，and the inverse kinematics analysis is performed. The analytical equation is obtained by using the bivariate inverse tangent function. Then the force and moment balance equations of each component are established according to the D'Alembert principle. The dynamics model of the platform is derived by New-Euler method，and the dynamic model is used to calculate the parallel drive bidirectional deflection platform. The graph of the driving torque required to achieve the specified motion under given external force and external torque is obtained.

Keywords

• Parallel driving