Dynamics modeling and simulation analysis of hybrid-drive parallel mechanism
In this article,in order to realize the rigid-body dynamics modeling of a PUU(prismatic pairs-universal joints-uni-versal joints)-2PRRS(prismatic pairs-revolution joints-revolution joints-spherical joints)5-DOF hybrid-drive parallel mecha-nism,the rigid-body dynamics model is set up with the help of the Lagrange method and the virtual work principle,and then the simulation analysis is carried out.Firstly,with the sub-closed loop taken into consideration,the closed-loop vector method is used to conduct the kinematic analysis on the parallel mechanism,so as to identify the linear velocity and the angular velocity at the centroid of the mechanism's each component.Secondly,both the Lagrange method and the virtual work principle are adopted to set up the hybrid-drive parallel mechanism's rigid-body dynamics model,which lays a foundation for solving the hybrid-drive par-allel mechanism's driving force and conducting the dynamics simulation analysis subsequently.Finally,the dynamics simulation analysis is conducted on the parallel mechanism based on the software MATLAB and ADAMS.In the case of the same trajectory,the driving-force curves obtained by the software are compared,in order to verify whether the dynamics model is correct.This study not only lays a foundation for setting up the control system of the PUU-2PRRS 5-DOF hybrid-drive parallel mechanism,but also provides theoretical basis for the dynamic modeling analysis on other hybrid-drive parallel mechanisms.
hybrid-drive parallel mechanismsub-closed-loop structurerigid-body dynamics modelingLagrange methodvirtual work principle
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