Kinematics/statics analysis of some limited-dof parallel manipulators by a block diagram modelling system

摘要

A block diagram modelling system is proposed for analyzing kinematics and statics of limited-dof parallel manipulators (PMs) in SimMechanics. First, some common modelling and simulation techniques of block diagram modelling system are described. Second, the block diagram modelling systems of various active limbs and their equivalent sub-systems are built, and the simulation mechanisms and the whole block diagram modelling systems of the 4SPS/SP, 2UPU+SPR and 3SPS+SP PMs with 3, 4-dof are created. Third, the pose, the velocity, the acceleration as well as the active forces of these PMs are solved.