4-RRUR Parallel Mechanism and its Kinematics Analysis
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摘要: 研究一种4-RRUR并联机构,这种机构速度快,刚度大。利用螺旋理论建立各分支的运动螺旋系,在此基础上计算出该机构的自由度数为4,并对驱动输入做出选择。从支链入手,应用矢量的矩阵表示方法,根据虚设机构的思想,建立4-RRUR并联机构各运动副的螺旋与机构输入、输出之间的关系。进而取各分支中只与主运动副有关的方程,建立广义速度、加速度的输入和输出的映射关系,并分别以广义坐标的1阶、2阶影响系数的形式表示,速度和加速度分析以显式表达出来。Abstract: A 4-RRUR parallel mechanism has fast motion and high stiffness and can be used to achieve the rapidsorting of goods and high-precision assembly. Firstly, the spiral system of each branch of the 4-RRUR parallelmechanism is set up by using the spiral theory. On this basis, we calculate the parallel mechanism with 4 degreesof freedom and select its drive input. Then we apply the vector matrix representation method to establishing the relationship between the input and output of each kinematic pair of the 4-RRUR parallel mechanism according to theidea of virtual mechanism. We use the equations which are only related to the main movements of each branch ofthe parallel mechanism to obtain the first order and second order kinematic influence coefficients of the parallelmechanism that correspond to the generalized coordinates. The velocity analysis and acceleration analysis areexpressed in an explicit way.
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Key words:
- 4-RRUR parallel mechanism /
- kinematic analysis /
- kinematic pair
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