4-HUPU少自由度并联机构运动学建模及分析

Kinematics modeling and analysis of the 4-HUPU lower freedom parallel mechanism

依据宏/微驱动模式,将4-HUPU少自由度并联机构转变为4-HUU并联机构和4-UPU并联机构,从而简化了并联机构的运动学建模及分析,为设计及控制奠定了基础。采用虚设机构法导出4-HUPU机构在宏/微驱动下的影响系数矩阵,并基于影响系数矩阵对宏/微驱动下两个机构的速度、加速度进行分析,完成4-HUPU少自由度并联机构运动学建模及分析。通过数值算例验证了该分析方法的准确性。

Puts 4-HUPU lower freedom parallel mechanism into 4-HUU and 4-UPU parallel mechanism in accordance with the macro/micro moving mode, it makes the kinematics modeling and analysis simplify. It gets influence coefficient matrix of 4-HUPU under macro/micro moving with virtual mechanism method. Based on influence coefficient matrix, speed and acceleration of two mechanisms under macro/micro moving are analyzed. Meanwhile, research on kinematics of the 4-HUPU lower freedom parallel mechanism is completed.