Kinematic Reliability Solution of 3-UPS-PU Parallel Mechanism Based on Monte Carlo Simulation
Guohua Cui1, Muyuan Sun2, Liang Yan2, Hongjuan Hou*, 1, Haiqiang Zhang2
Identifiers and Pagination:Year: 2015
First Page: 324
Last Page: 332
Publisher Id: TOMEJ-9-324
Article History:Received Date: 8/1/2015
Revision Received Date: 15/1/2015
Acceptance Date: 16/1/2015
Electronic publication date: 29/5/2015
Collection year: 2015
open-access license: This is an open access article distributed under the terms of the Creative Commons Attribution 4.0 International Public License (CC-BY 4.0), a copy of which is available at: (https://creativecommons.org/licenses/by/4.0/legalcode). This license permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
In order to research kinematic reliability of 3-UPS-PU parallel mechanism, the structure and kinematics analysis 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 the basis of inverse kinematic solution of the position. The curves of the position and orientation output errors can be plotted with a large batch production by adopting Monte-Carlo simulation method. Then kinematic reliability of the mechanism can be solved through the probability statistics method and theoretical solution method respectively. Finally, these two methods 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 for the related future research.