Dynamic analysis of an over-constrained parallel mechanism with the principle of virtual work

Abstract

This research presents the mathematical modelling of kinematic and complete dynamic analysis of a novel over-constrained parallel mechanism, which consists of two universal-prismatic-revolute joint limbs and one revolute-revolute-universal joint limb. The kinematic model is constructed based on the closed-loop vector method and the velocity Jacobian matrix is deduced, velocitymapping relationships between all moving components and moving platform are also performed. Afterwards, inertia and applied forces are analysed, the complete dynamic equations with the classical Stribeck friction model of the proposed structure is established based on the principle of virtual work. A theoretical numerical example is given to solve kinematics and dynamics solutions, and theoretical forces from developed dynamic formulation are verified by the physic model simulation in Simscape and the rigidflexible coupling model simulation in Adams. A good agreement between the theoretical results and multi-body software simulation is found.

Dynamics behavior analysis of spatial parallel coordinate measuring mechanism with spherical clearance joints

“…Zhang et al [24] analyzed the dynamics of a new parallel mechanism using implicit integration algorithm and Baumgart stabilization technology, and verified the validity of numerical results of the dynamic response using ADAMS simulation software. Chen et al [25] used the principle of virtual work to analyze dynamics of a new type of over constrained parallel mechanism, and verified the validity of dynamic simulation results through the physical model simulation in Simscape and rigid flexible coupling model simulation in Adams.…”