In order to study a rigid parallel mechanism with three degrees of freedom(a 2PRU-PRUPc parallel mechanism),a dynamic model is established based on the Lagrange equation,and then the dynamic analysis of the parallel mechanism is carried out.Firstly,the structural component of the mechanism is described in detail,followed by an elaboration of the degrees of freedom of the mechanism based on the screw theory,establishing that the moving platform has two rotating degrees and one moving degree of freedom.Secondly,after performing a kinematic analysis of the mechanism using the transformation matrix,the constraint equations are created.Furthermore,the kinetic formulae and potential energy formulae of the mechanism are listed based on the Lagrange equation.Meanwhile,the dynamic model of the parallel mechanism is established based on the constraint equations.Finally,the dynamic equation of the 3-DOF parallel mechanism is solved in Maple,and then the change curves generalized driving force are plotted.The dynamic model is demonstrated by the virtual simulation results in ADAMS.
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