Parasitic Rotation Evaluation of 3-UPU Parallel Mechanism
Based on the prototype of 3-UPU parallel mechanism proposed by Tsai1, the parasitic rotationevaluation is performed and calculated the bound of instability of SNU 3-UPU parallel mechanism. Throughanalysis of the terminal constraint system of the 3-UPUparallel mechanism, the equation about the parasiticrotation and limited clearance is presented. Then thenorm of possible parasitic rotation is employed to evaluate the mechanism stability with limited clearance.The higher this number the worst is the pose, the lower it is the best it is. And the contour atlas of parasitic rotation is obtained, which can be used for further analysis anddesign. Finally, combined the practice experiment result of SUN 3-UPU parallel mechanism, we find its bound of instability, which indicates there will appear the parasiticrotation when the number exceeds the bound.
parallel mechanism 3-UPU parasitic rotation evaluation limited clearance
Haibo Qu Yuefa Fang Sheng Guo
Beijing Jiaotong University Beijing,China
国际会议
上海
英文
1-5
2011-10-14（万方平台首次上网日期，不代表论文的发表时间）