Affiliation:
1. State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
Abstract
In this paper, a two-rotational degrees of freedom parallel mechanism with five kinematic subchains (3UPS-UPU-S) (U, P, and S stand for universal joints, prismatic joints, and spherical joints) for an aerospace product is introduced, and its kinematic and dynamic characteristics are subsequently analyzed. The kinematic and dynamic analyses of this mechanism are carried out in screw coordinates. Firstly, the inverse kinematics is performed through the kinematic equations established by the velocity screws of each joint to obtain the position, posture, and velocity of each joint within the mechanism. Then, a dynamic modeling method with screw theory for multi-body systems is proposed. In this method, the momentum screws are established by the momentum and moment of momentum according to the fundamentals of screws. By using the kinematic parameters of joints, the dynamic analysis can be carried out through the dynamic equations formed by momentum screws and force screws. This method unifies the kinematic and dynamic analyses by expressing all parameters in screw form. The approach can be employed in the development of computational dynamics because of its simplified and straightforward analysis procedure and its high adaptability for different kinds of multi-body systems.
Funder
National Natural Science Foundation of China
National Major Science and Technology Project of China
State Key Laboratory of Tribology, Tsinghua University
221 Program of Tsinghua University
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Control and Optimization,Mechanical Engineering,Computer Science (miscellaneous),Control and Systems Engineering