Rigid-body dynamics analysis of 4-UPS-RPS mechanism based on Newton-Euler approach

To realize the rigid-body dynamics analysis of 4-UPS-RPS 5-DOF spatial parallel mechanism,the NewtonEuler approach and the virtual prototype simulation method were adopted.The kinematics problems of parallel mechanism,which consisted of position inverse solution,linear velocity and angular velocity of driving limbs,barycenter linear velocity and angular velocity of swing arm and telescopic rod were analyzed.The rigid-body dynamics equation of 4-UPS-RPS parallel mechanism was derived by Newton-Euler approach,and Matlab was used to calculate the example theoretically under no load and on load condition.The driving forces of five driving limbs were obtained respectively,the dynamic simulation was analyzed by ADAMS,and the correctness of the rigid-body dynamics analysis was verified.The research could provide theoretical basis for design,manufacture and control of 4-UPS-RPS spatial parallel mechanism.