Rigid Dynamics Modeling of Redundant Actuation Parallel Mechanism Based on Lagrange Method

Chen Xiulong;Sun Decai;Wang Qing;College of Mechanical and Electronic Engineering,Shandong University of Science and Technology;College of Civil Engineering and Architecture,Shandong University of Science and Technology;

Redundant actuation parallel mechanism;;Rigid dynamics model;;Lagrange method;;4-DOF

To realize the rigid dynamics modeling of a novel 4-UPS( universal joints-prismatic pairsspherical joints)-RPU( revolution joints-prismatic pairs-universal joints) spatial 4-degree of freedom redundant actuation parallel mechanism,the Lagrange method was adopted. Firstly,the expression of kinetic energy and potential energy of 4-UPS-RPU redundant actuation parallel mechanism were educed,and the equivalent generalized force of non conservative force was analyzed. Secondly,the dynamics model of 4-UPS-RPU redundant actuation parallel mechanism was established by the Lagrange method,which was the foundation of the solution of driving force and dynamic analysis. Finally,the driving forces of 4-UPS-RPU spatial 4-degree of freedom redundant actuation parallel mechanism were solved by theoretical calculation and virtual simulation combined with examples,respectively. The numerical results obtained by solving the dynamics model of the 4-UPS-RPU parallel mechanism by Matlab were in agreement well with the virtual simulation results by ADAMS. The results can provide theoretical basis for dynamic optimization design and control of 4-UPS-RPU parallel mechanism,and also suggest a way of thinking about rigid body dynamics modeling for other redundant actuation spatial parallel mechanism.