Dynamic Modeling and Analysis of 5‑PSS/UPU Parallel Mechanism with Elastically Active Branched Chains  

作　　者：Yanbiao Li Hang Zheng Bo Chen Peng Sun Zesheng Wang Kun Shuai Yi Yue 

机构地区：[1]Key Laboratory of E&M,Ministry of Education&Zhejiang Province,Zhejiang University of Technology,Hangzhou,310032,China [2]Shanghai Aerospace Equipments Manufacturer Co.,Ltd.,Shanghai 200245,China.

出　　处：《Chinese Journal of Mechanical Engineering》2020年第3期118-129,共12页中国机械工程学报（英文版）

基　　金：Supported by Zhejiang Provincial Natural Science Foundation of China (Grant No. LR18E050003);National Natural Science Foundation of China (Grant Nos. 51975523,51905481);Postdoctoral Preferred Funding Project of Zhejiang Province (Grant No. zj2019019);Open Foundation of the Key Laboratory of E&M,Ministry of Education&Zhejiang Province (Grant No. EM2019120102)

摘　　要：To study the characteristics of the 5-prismatic–spherical–spherical(PSS)/universal–prismatic–universal(UPU)parallel mechanism with elastically active branched chains,the dynamics modeling and solutions of the parallel mechanism were investigated.First,the active branched chains and screw sliders were considered as spatial beam elements and plane beam element models,respectively,and the dynamic equations of each element model were derived using the Lagrange method.Second,the equations of the 5-PSS/UPU parallel mechanism were obtained according to the kinematic coupling relationship between the active branched chains and moving platform.Finally,based on the parallel mechanism dynamic equations,the natural frequency distribution of the 5-PSS/UPU parallel mechanism in the working space and elastic displacement of the moving platform were obtained.The results show that the natural frequency of the 5-PSS/UPU parallel mechanism under a given motion situation is greater than its operating frequency.The maximum position error is -0.096 mm in direction Y,and the maximum orientation error is -0.29°around the X-axis.The study provides important information for analyzing the dynamic performance,dynamic optimization design,and dynamic control of the 5-PSS/UPU parallel mechanism with elastically active branched chains.

关 键 词：5-PSS/UPU parallel mechanism Finite element Dynamic analysis Natural frequency Elastic displacement 

分 类 号：V414[航空宇航科学与技术—航空宇航推进理论与工程] TH112[机械工程—机械设计及理论]