Analysis of Joint Constraint Reaction of Spatial 3-UPS Parallel Mechanism
In light of the complexity of calculation of joint force of spatial mechanism system，a mechanical analysis of joint constraint reaction of 3-UPS Parallel mechanism is carried out. Considering the relationship between Lagrange multiplier and constraint reaction of spatial mechanism，the joint reaction...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2022-02-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.02.012 |
| _version_ | 1826882654912380928 |
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| author | Baozhou Shi Wei Wei Xiujie Xu Zhenkai Li |
| author_facet | Baozhou Shi Wei Wei Xiujie Xu Zhenkai Li |
| author_sort | Baozhou Shi |
| collection | DOAJ |
| description | In light of the complexity of calculation of joint force of spatial mechanism system，a mechanical analysis of joint constraint reaction of 3-UPS Parallel mechanism is carried out. Considering the relationship between Lagrange multiplier and constraint reaction of spatial mechanism，the joint reaction of the spatial parallel mechanism is calculated based on Lagrange augmented method. At the same time，the calculation results are verified by Newton Euler method and Adams and Matlab Software co-simulation，and a comparative analysis of the two results is conducted. The results show that the size of the joint constraint reaction of the spatial mechanism calculated by the two methods is basically the same，and the error is between 0.5% and 1.2%，which is relatively small. The correctness of the method of using Lagrange multiplier and Lagrange augmented method to calculate the joint constraint reaction of spatial mechanism is verified，and a certain reference for the mechanical analysis of spatial mechanism is provided. |
| first_indexed | 2024-03-13T09:17:15Z |
| format | Article |
| id | doaj.art-817ac10b758e4e8c874760bd00dc7b28 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2025-02-17T03:15:06Z |
| publishDate | 2022-02-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-817ac10b758e4e8c874760bd00dc7b282025-01-10T13:59:42ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-02-0146737730482006Analysis of Joint Constraint Reaction of Spatial 3-UPS Parallel MechanismBaozhou ShiWei WeiXiujie XuZhenkai LiIn light of the complexity of calculation of joint force of spatial mechanism system，a mechanical analysis of joint constraint reaction of 3-UPS Parallel mechanism is carried out. Considering the relationship between Lagrange multiplier and constraint reaction of spatial mechanism，the joint reaction of the spatial parallel mechanism is calculated based on Lagrange augmented method. At the same time，the calculation results are verified by Newton Euler method and Adams and Matlab Software co-simulation，and a comparative analysis of the two results is conducted. The results show that the size of the joint constraint reaction of the spatial mechanism calculated by the two methods is basically the same，and the error is between 0.5% and 1.2%，which is relatively small. The correctness of the method of using Lagrange multiplier and Lagrange augmented method to calculate the joint constraint reaction of spatial mechanism is verified，and a certain reference for the mechanical analysis of spatial mechanism is provided.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.02.012Spatial parallel mechanismJoint restraint reactionLagrange multiplierNewton Euler method |
| spellingShingle | Baozhou Shi Wei Wei Xiujie Xu Zhenkai Li Analysis of Joint Constraint Reaction of Spatial 3-UPS Parallel Mechanism Jixie chuandong Spatial parallel mechanism Joint restraint reaction Lagrange multiplier Newton Euler method |
| title | Analysis of Joint Constraint Reaction of Spatial 3-UPS Parallel Mechanism |
| title_full | Analysis of Joint Constraint Reaction of Spatial 3-UPS Parallel Mechanism |
| title_fullStr | Analysis of Joint Constraint Reaction of Spatial 3-UPS Parallel Mechanism |
| title_full_unstemmed | Analysis of Joint Constraint Reaction of Spatial 3-UPS Parallel Mechanism |
| title_short | Analysis of Joint Constraint Reaction of Spatial 3-UPS Parallel Mechanism |
| title_sort | analysis of joint constraint reaction of spatial 3 ups parallel mechanism |
| topic | Spatial parallel mechanism Joint restraint reaction Lagrange multiplier Newton Euler method |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.02.012 |
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