Abstract Dynamics performance is very important for a manipulator used for high-speed machining. In this paper, the dynamic performance evaluation method of the 2UPU/SP parallel mechanism in a hybrid robot for aerospace composite machining is studied. The dynamic model is obtained by the virtual work principle, and a dynamic performance index considering gravity is proposed. Based on the given performance index, the effect of placement direction on dynamic performance of 2UPU/SP mechanism is studied, and the comparison between the dynamic performance of 2UPU/SP and the traditional Tricept mechanism is carried out. The results show that the 2UPU/SP mechanism has better dynamic performance in the vertical placement than the horizontal placement, and 2UPU/SP mechanism has better dynamic performance than Tricept mechanism.

中文翻译：

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考虑重力的5自由度混合机器人2UPU/SP并联机构动力学评估

摘要 对于高速加工的机械手来说，动力学性能非常重要。本文研究了用于航空航天复合材料加工的混合机器人中2UPU/SP并联机构的动态性能评估方法。利用虚功原理得到动力学模型，提出考虑重力的动力学性能指标。基于给定的性能指标，研究了放置方向对2UPU/SP机构动态性能的影响，并进行了2UPU/SP与传统Tricept机构动态性能的比较。结果表明，2UPU/SP机构在垂直放置的动态性能优于水平放置，2UPU/SP机构的动态性能优于Tricept机构。