Scholarlink

In this article, we propose a low degree-of-freedom parallel mechanism known as the 2-UPS+U parallel structure. This mechanism features a double-triangle configuration and exhibits unique structural properties, resulting in a coupled system with multivariable input and output. In terms of kinematic analysis, Firstly, we establish the closed-loop directed transformation graph of the mechanism. Then, using the D-H method, we determine the position and orientation of the end-effector. Finally, we solve the inverse position problem of the mechanism through a geometric approach. Aiming at the common synchronous loop problem in hydraulic system, the control strategy of double hydraulic cylinder drive is designed. The validity of our kinematic analysis is confirmed by simulation models constructed in Adams simulation software which demonstrate consistent results with theoretical calculations, thus affirming its accuracy. The 2-UPS+U parallel mechanism finds common application in hydraulic drive units for hydraulic robotic arms. The findings from this research are highly significant as they contribute to enhancing control precision in hydraulic-driven joints.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Kinematic Analysis and Control Strategy Research of Hydraulic Robotic Arm Drive Module 2-UPS+U Parallel Mechanism

  • 会议论文

  • 发表日期：

    2025年

查看全文
  • Shenglong Nie,
  • Bo Chen,
  • He Liu,
  • Yichao Li,
  • Yundou Xu,
  • Jiantao Yao,
  • Yongsheng Zhao

摘要

In this article, we propose a low degree-of-freedom parallel mechanism known as the 2-UPS+U parallel structure. This mechanism features a double-triangle configuration and exhibits unique structural properties, resulting in a coupled system with multivariable input and output. In terms of kinematic analysis, Firstly, we establish the closed-loop directed transformation graph of the mechanism. Then, using the D-H method, we determine the position and orientation of the end-effector. Finally, we solve the inverse position problem of the mechanism through a geometric approach. Aiming at the common synchronous loop problem in hydraulic system, the control strategy of double hydraulic cylinder drive is designed. The validity of our kinematic analysis is confirmed by simulation models constructed in Adams simulation software which demonstrate consistent results with theoretical calculations, thus affirming its accuracy. The 2-UPS+U parallel mechanism finds common application in hydraulic drive units for hydraulic robotic arms. The findings from this research are highly significant as they contribute to enhancing control precision in hydraulic-driven joints.