Dynamics of a 3-UPS-UPU-S Parallel Mechanism
In this paper, a parallel mechanism with two rotational degrees of freedom is proposed. It could rotate freely and continuously around the two coordinate axes at the fixed origin of the coordinate frame. The structure of the mechanism is a second-order over constraint parallel structure and the movi...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-03-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/6/3912 |
| _version_ | 1797613638675070976 |
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| author | Jing-Shan Zhao Song-Tao Wei Xiao-Cheng Sun |
| author_facet | Jing-Shan Zhao Song-Tao Wei Xiao-Cheng Sun |
| author_sort | Jing-Shan Zhao |
| collection | DOAJ |
| description | In this paper, a parallel mechanism with two rotational degrees of freedom is proposed. It could rotate freely and continuously around the two coordinate axes at the fixed origin of the coordinate frame. The structure of the mechanism is a second-order over constraint parallel structure and the moving platform and base platform are connected by five kinematic chains. The motion characteristics of this structure are analyzed by reciprocal screw equation. Then, the kinematics and dynamics modelling are carried out systematically in a unified way. The kinematics of the mechanism is established by means of screws, the displacements and accelerations of each joint and any point on a link could be calculated by the kinematic screw equation directly. The analysis of acceleration and its mathematical expression in screw form are given, and the acceleration matrix could be applied into the dynamic analysis based on the Newton–Euler equation. All the constraint forces and torques could be obtained by a single set of Newton–Euler equations. |
| first_indexed | 2024-03-11T06:57:43Z |
| format | Article |
| id | doaj.art-824515ef55b44fda8975a6eb26fe26af |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T06:57:43Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-824515ef55b44fda8975a6eb26fe26af2023-11-17T09:28:44ZengMDPI AGApplied Sciences2076-34172023-03-01136391210.3390/app13063912Dynamics of a 3-UPS-UPU-S Parallel MechanismJing-Shan Zhao0Song-Tao Wei1Xiao-Cheng Sun2State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, ChinaState Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, ChinaState Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, ChinaIn this paper, a parallel mechanism with two rotational degrees of freedom is proposed. It could rotate freely and continuously around the two coordinate axes at the fixed origin of the coordinate frame. The structure of the mechanism is a second-order over constraint parallel structure and the moving platform and base platform are connected by five kinematic chains. The motion characteristics of this structure are analyzed by reciprocal screw equation. Then, the kinematics and dynamics modelling are carried out systematically in a unified way. The kinematics of the mechanism is established by means of screws, the displacements and accelerations of each joint and any point on a link could be calculated by the kinematic screw equation directly. The analysis of acceleration and its mathematical expression in screw form are given, and the acceleration matrix could be applied into the dynamic analysis based on the Newton–Euler equation. All the constraint forces and torques could be obtained by a single set of Newton–Euler equations.https://www.mdpi.com/2076-3417/13/6/3912kinematicsscrew dynamicsclosed kinematic chainnumerical algorithm |
| spellingShingle | Jing-Shan Zhao Song-Tao Wei Xiao-Cheng Sun Dynamics of a 3-UPS-UPU-S Parallel Mechanism Applied Sciences kinematics screw dynamics closed kinematic chain numerical algorithm |
| title | Dynamics of a 3-UPS-UPU-S Parallel Mechanism |
| title_full | Dynamics of a 3-UPS-UPU-S Parallel Mechanism |
| title_fullStr | Dynamics of a 3-UPS-UPU-S Parallel Mechanism |
| title_full_unstemmed | Dynamics of a 3-UPS-UPU-S Parallel Mechanism |
| title_short | Dynamics of a 3-UPS-UPU-S Parallel Mechanism |
| title_sort | dynamics of a 3 ups upu s parallel mechanism |
| topic | kinematics screw dynamics closed kinematic chain numerical algorithm |
| url | https://www.mdpi.com/2076-3417/13/6/3912 |
| work_keys_str_mv | AT jingshanzhao dynamicsofa3upsupusparallelmechanism AT songtaowei dynamicsofa3upsupusparallelmechanism AT xiaochengsun dynamicsofa3upsupusparallelmechanism |