Kinematic Reliability Solution of 3-UPS-PU Parallel Mechanism Based onMonte Carlo Simulation

摘要

In order to research kinematic reliability of 3-UPS-PU parallel mechanism, the structure and kinematicsanalysis were performed. Inverse kinematics equation can be derived by homogeneous coordinate transformation formula.Position and orientation output error forward kinematics model was obtained by the differential transformation on thebasis of inverse kinematic solution of the position. The curves of the position and orientation output errors can be plottedwith a large batch production by adopting Monte-Carlo simulation method. Then kinematic reliability of the mechanismcan be solved through the probability statistics method and theoretical solution method respectively. Finally, these twomethods were compared with each other. The results illustrate that the results of the two methods are basically consistent,and the mechanism can be work reliably and stably under general operations, which provides some valuable references forthe related future research.