中文摘要：

为了对空间4-UPS-RPS五自由度并联机构进行受力分析,采用达朗贝尔原理建立了并联机构的动态静力学方程,进而对机构受力情况进行了分析。首先,推导出了4-UPS-RPS并联机构的位置反解、速度反解和加速度反解的表达式;然后,应用达朗贝尔原理建立了4-UPS-RPS并联机构的动态静力学方程,导出了机构中5个驱动力;最后,分别利用Matlab理论计算与ADAMS虚拟样机仿真得到机构驱动杆的驱动力和动平台上球面副约束反力的变化曲线,验证了所建动态静力学模型的正确性。研究不仅为4-UPS-RPS并联机构驱动力和运动副反力的求解和结构设计提供了理论依据,也为其他空间并联机构的受力分析提供了可行的方法。

英文摘要：

In order to realize kinetostatics analysis of spatial 4-UPS-RPS 5-DOF parallel mechanism,the expression of kinetostatics was derived by d＇ Alembert principle,and the force state of mechanism was analyzed. Firstly,the model of inverse displacement,inverse velocity and inverse acceleration of 4-UPS-RPS parallel mechanism were educed. And then,the kinetostatics model of 4-UPS-RPS 5-DOF parallel mechanism was established by the d＇ Alembert principle,the expression of driving force and constraining force were deduced. Finally,combined with examples,the driving force of driving limbs and constraining force of spherical hinge on moving platform were carried out by numerical calculation and virtual simulation,separately. The results of force analysis shows that the driving force of driving limbs and constraining force of spherical hinge on moving platform are varied with the position and posture of4-UPS-RPS 5-DOF parallel mechanism,and the force value obtained by numerical calculation and by virtual simulation are basically the same. So far the numerical verification and virtual simulation verification of the kinetostatics analysis results are realized. The research can not only provide theoretical basis for solution of driving force, constraining force and structure design of 4-UPS-RPS parallel mechanism,but also suggest a way of thinking about force analysis for other spatial parallel mechanism.