The dynamics analysis for a five DOF serial-parallel manipulator with RP-(2-RRU/1-RUU) structure

In this paper, a 5-DOF serial-parallel manipulator with RP-(2-RRU/1-RUU) structure is proposed. This manipulator is used to the automatic production line, to complete the materials´ loading, delivery and unloading. In order to ensure the safety and high efficiency production, the manipulator has good stiffness and high accuracy, and is suitable for the fast operation. Based on the above requirements, the manipulator has the big work space characteristic of the serial mechanism and the high precision and stiffness characteristic of the parallel mechanism. However, the difficulty of its dynamics analysis is increasing. In this paper, the modal analysis and the harmonic response analysis are carried out using finite element analysis software, and the dynamic characteristics of the manipulator are derived. The inverse dynamics modeling has been performed based on the Newton-Euler method. The dynamics simulation is carried out to check the correctness of dynamics modeling. This study is also significant to the trajectory planning and control system.