Dynamics Response of Spatial Parallel Coordinate Measuring Machine with Clearances

In order to grasp the dynamic response of 4-UPS-RPS (four universal joints-prismatic pairs-spherical joints and revolution joints-prismatic pairs-spherical joints) parallel coordinate measuring machine with clearances, a method of dynamic characteristics analysis by using virtual prototyping technology was introduced. The virtual prototype of 4-UPS-RPS parallel coordinate measuring machine with clearances was constructed by ADAMS while the driving limbs, the moving platform and stationary platform of parallel coordinate measuring machine were treated as rigid bodies. Based on the virtual prototype with clearances, the dynamic response, including kinematics output response and contact force of joints element, were obtained. The results of simulation show that the joint clearances are demonstrated to have significant impact on system kinematics and dynamics. This research can provide the important theoretical base of the optimization design and the vibration control for 4-UPS-RPS parallel coordinate measuring machine