Design and implementation of a 3UPU parallel mechanism with anti-torsion arm
In order to solve the problem of physical exertion of disaster relief personnel on bumpy road conditions in disaster relief work,a 3DOF bumpy training simulator is designed,and the mounting height of the platform is extremely limited due to the problem of height limitation as this design is used for the vehicle-mounted disaster relief bumpy simulator.Based on the theory of Stewart mo-tion platform and space motion mechanism,the article designs a heavy load 3-degree-of-freedom parallel platform(3-UPU/RRU)with anti-torsion arm,in which UPU is the driving pivot chain and the two RRUs are the cha-constrained follower pivot chains,and analyzes the constraints by using the helix theory,which demonstrates the reasonableness of the motion of the mechanism.Using the accelerated genetic algorithm and the actual installation space of the project,the optimal solution of the size of the platform is ob-tained.ADAMS software is utilized to establish a virtual machine,and the inverse solution of the driving parts is obtained through the motion curve of the driving parts and the end of the moving platform,and the platform motion is finally obtained.And this result is used in a certain anti-bump training simulator,which runs well.This research result can be used as a reference for engineers to de-sign the parallel platform in the case of narrower installation space.
three degrees of freedomsimulation platformmechanism designhelix algorithmadams simulationgenetic algo-rithmoptimization designmechanical engineering
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