4-UPU并联机构的模型建立与正反解算法

Modeling and Positive and Negative Solution of the Algorithm of 4-UPU Parallel Mechanism

4-UPU并联机构可以实现3TIR的运动姿态,该机构的四条运动支链结构配置均相同,称为完全对称的并联机构,这种对称结构对其进行运动学及动力学的极为简便.简洁地建立了该机构的模型并绘制了结构简图,进行了运动学分析和求解出了位置正反解的算法,通过数值算例验证了该算法的正确性、合理性.

4 -UPU parallel mechanism can realize structure configuration is the same, so it is also known as metric structure can carry on the kinematics and dynamics 3TIR motion, the mechanism＇s four motion branched a perfectly symmetrical parallel mechanism. The sym- analysis of the research easily. A concise agency rood- el was established and the structure diagram was drawn. Then, its kinematics was analyzed, and the positive and negative solutions of the algorithm were solved. Finally, a numerical example was given to verify the correctness and rationality of the algorithm.