SUMMARYThis paper proposes a dynamic modeling method of redundant drive spatial parallel mechanism, dynamics of 4-UPS-RPU redundant driving spatial parallel mechanism considering spherical joint clearance are analyzed. The dynamic equation of spherical joint clearance with Lagrange multiplier is built. The influences of single clearance and multiple clearances on dynamic responses of redundant drive spatial parallel mechanisms are analyzed under different clearance values. The results show that the dynamic characteristics of the mechanism with single clearance are basically consistent with the ideal situation, and the dynamic characteristics of the mechanism with multi-clearance are significantly different from the ideal situation.

中文翻译：

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球面间隙接头对冗余驱动空间并联机构动力学的影响

摘要本文提出了一种冗余驱动空间并联机构的动力学建模方法，分析了考虑球形关节间隙的4-UPS-RPU冗余驱动空间并联机构的动力学。建立了带拉格朗日乘数的球面关节间隙动力学方程。分析了不同游隙值下单游隙和多游隙对冗余驱动空间并联机构动态响应的影响。结果表明，单游隙机构的动力学特性与理想情况基本一致，多游隙机构的动力学特性与理想情况存在显着差异。