Dynamics Analysis of 2PPPPS-R-2PPPPS Serial-Parallel Mechanism

Abstract

In this paper, the stress condition of each hinge point of the new 2PPPPS-R-2PPPPS serial-parallel mechanism is analyzed comprehensively by establishing dynamic equations and Euler equations. Given the stress at output terminal of the mechanism that has given spatial position and pose, the movement parameters of principal axis, the movement parameters of connecting rod and the movement parameters of horizontal and vertical moving sliders, we can solve the inverse dynamics solution of the mechanism, and through computer programming, we can calculate and draw the intuitive and effective results.