Workspace and statics analysis of 4-UPS-UPU parallel coordinate measuring machine

摘要

A novel 4-UPS-UPU spatial 5-Degree of freedom parallel coordinate measuring machine (PCMM) is presented. The workspace of the measuring machine is analyzed by using polar coordinate searching method. The force balance equation and statics transfer matrix of the measuring machine are established. The statics analysis of the 4-UPS-UPU PCMM is realized by taking the PCMM with load and no-load as example, and the numerical verification and virtual simulation verification of the results of driving force are carried out. The research can provide a theoretical basis for the optimal design and manufacturing of 4-UPS-UPU PCMM.