Modelling and Simulation of a 2UPR-RRU Parallel Mechanism

Abstract

This paper presents an effective and intuitive method for the kinematics and dynamics analysis of 2UPRRRU parallel mechanism in Simulink/Simscape. Firstly, the kinematic model of 2UPR-RRU parallel mechanism is analyzed based on closed loop vector method. Secondly, the components in the Simscape are chosen to form the virtual prototype model of 2UPR-RRU parallel mechanism, and the inverse kinematics and inverse dynamics model are solved in Simulink and Simscape respectively. Finally, the inverse kinematics solutions and the active forces of actuators are deduced through the simulation. The result indicates the mechanism possesses good movability. In addition, this method provides a visual way to analyze the movement of the parallel mechanism?