Dynamic Modeling of Spherical 5R Parallel Mechanism for Spherical Plain Bearing Running-in Equipment

Spherical plain bearing plays a significant role in the national defense military, aerospace, robotics and other cutting-edge fields. Running-in test should be conducted prior to use which can significantly reduce friction coefficient, minimize torque ripple, improve reliability and increase lifecycle. Based on the requirement for spherical plain bearing running-in equipment, this paper conducts the feasibility analysis of application of spherical 5R parallel mechanism in spherical plain bearing running-in equipment. According to the geometric constraint conditions, a simple kinematic model is derived. Then the dynamic model is established based on the Lagrange method. Combining with a specific prototype, the reachable workspace and kinematic characteristics are analyzed, and the effective inertia varying with the configurations of mechanism is also discussed. Finally, dynamic simulation is implemented to verify the correctness of the dynamic model by using ADAMS software. The derived model can provide theoretical basis in dynamic optimal design, driving unit lectotype and control model establishment.