The Open Mechanical Engineering Journal

2015, 9 : 324-332
Published online 2015 May 29. DOI: 10.2174/1874155X01509010324
Publisher ID: TOMEJ-9-324

Kinematic Reliability Solution of 3-UPS-PU Parallel Mechanism Based on Monte Carlo Simulation

Guohua Cui , Muyuan Sun , Liang Yan , Hongjuan Hou and Haiqiang Zhang
School of Equipment Manufacture College, Hebei University of Engineering, Handan, 056038, P.R. China.

ABSTRACT

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.

Keywords:

Error analysis , kinematic reliability, kinematics, Monte-Carlo simulation, parallel mechanism.