| Citation: | CHEN Miao, ZHANG Qing, GE Yunfei, et al. 2UPR-RRU parallel mechanism and its kinematic analysis[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(6): 1145-1152. doi: 10.13700/j.bh.1001-5965.2018.0575(in Chinese)
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To actualize the requirement of friction stir welding for light metal materials in aerospace manufacturing, this paper proposed a novel 2UPR-RRU parallel mechanism with IT2R 3-DOF as the manipulator of the welding equipment. Based on screw theory, the mechanism of one translational and two rotational full-cycle DOFs was found on general position and special position. Kinematic model of 2UPR-RRU parallel mechanism was constructed. Then the relationship between platform's positions and driving joints was analyzed by closed loop vector method and forward/inverse kinematics solutions were deduced. The optimal objective function was established in the process of forward kinematics, particle swarm optimization (PSO) algorithm was used to analyze the relationship between platform outputs and driving joints inputs, and finally the exact solution was found. Based on the input/output velocity Jacobi matrix, the motion singularity of 2UPR-RRU was analyzed, and especially the conditions to avoid driving singularity were discussed in detail. The research shows that 2UPR-RRU parallel mechanism, which is an important full-cycle DOF mechanism, possesses excellent kinetic characteristics, driving characteristics and high potential application.
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