Based on configuration evolution, by means of adding a PPU drivenlimp, a 4UPS/PPU parallel mechanism(PM) was built. The DOFs of movement platform were limited by drivenlimp and onetranslational and onerotational DOFs were constrained. 4UPS/PPU PM that the kinematic equations of inputs and outputs were built and Jacobian matrixes of velocity and acceleration were obtained by the method of derivation possesses two rotational and two translational DOFs. The toolkit of SimMechanics being used for the simulation calculation, the motion law of movement platform was obtained. The results show that operation of movement platform is stable and simulation calculation is in accordance with the theoretical calculation.
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季晔,赵淑玲,孙娟,吴锐,张旦闻.基于SimMechanics的4UPS/PPU并联机构运动分析[J].机床与液压,2015,43(21):83-85. . Kinematic Analysis of 4UPS/PPU Parallel Mechanism Based on SimMechanics[J]. Machine Tool & Hydraulics,2015,43(21):83-85