KINEMATICS AND DYNAMICS ANALYSIS OF A HIGH-SPEED PARALLEL MECHANISM

This paper introduced the design of a 6-DOF high-speed parallel mechanism for the wind tunnel tests, with the particular focus on analysis of the kinematic and dynamic factors. It starts with kinematics analysis to the mechanism to get the positive and inverse kinematics equation, followed by the use of Lagrange's equation combined with a simplified model of the dynamics modeling approach to build a rigid kinetic equation. The next step comes to a comprehensive analysis of the constraints to determine the structural parameters of the mechanism. Rod and the moving platform are given the discretized sampling to complete the flexible dynamics simulation, from which the rigid analysis results are compared to obtain the dynamic characteristics. Under such constraints as ball joints, the calculation is made on the attitude workspace. Finally, the parallel mechanism under the actual operation with the measurement results show that the mechanism is effective in achieving the single and multi degree oscillatory motions, which is featured in a large work space, high-precision and high-speed rate, also highlighted by higher kinematic performance.