Abstract:

A new method of velocity and acceleration analysis for 2UPS-2RPS parallel mechanism based on single-opened-chain was presented.The mathematical models of velocity and acceleration analyses,which
were uniform with one of the position analysis,were established according to the topological structure characteristics and the same course of topological structure decomposition.The velocity and acceleration equations of the mechanism were derived.An numerical example of the velocity and acceleration analysis was given.

Key words: parallel mechanism, forward kinematics analysis, single-opened-chain, topology

摘要：

基于序单开链法对具有不同支路结构的2UPS-2RPS少自由度并联机构进行了正运动学速度和加速度分析。依据机构的拓扑结构特征，采用相同的序单开链分解线路，建立了与机构位置分析模型相统一的机构速度和加速度分析模型，得到了维数最低且恰等于机构耦合度的机构速度和加速度方程，给出了其速度和加速度分析的数值算例。

关键词: 并联机构, 正运动分析, 单开链, 拓扑结构