Dynamical analysis of a drilling end-effector with 3-SPR parallel mechanism

Abstract

The dynamics equations of a centrosymmetry 3-SPR parallel mechanism were built based on Lagrange equations and the explicit solution of the actuation force was obtained. To use the equations for control, the simplified presentation of the equations were researched. The actuation force changing of the platform was simulated based on the explicit solution. The situation that the chain mass can be ignored was studied by comparing whether the platform was uploaded. Finally, the relationship between actuation force and the platform structure parameters was analysized, the results can be used for optimization design of the drilling mechanism.