The Simulation And Error Analysis Of Sliding Block Type Two Rotation Degrees Of Freedom Parallel Fixture

The Mechanism is a subject that study in on the kinematic characteristics and transmission characteristics,including mechanism-kinematics and tectonic mechanisms. The Mechanism is used to discuss and analyze the existing mechanism motion,that is,on the characteristics of every point’s trajectory,displacement, velocity and acceleration and so on.Jig is a process equipment which is used for accurate positioning and strongly tightening the workpieces in the cutting process. Thus it occupies a very significant place when some workpieces are clamped. Since the rapid development of the parallel mechanism during the past few decades, it has played an increasingly important role in modern engineering. What the different from the traditional mechanism is using the multiple parallel connecting rods to drive, which has it’s own characteristics:more stiffness of the mechanism,more bearing pressing and more load capacity are better than the previous serial mechanism. So it is as a powerful supplement of the serial mechanism and as a important component in mechanical field. However, some disadvantages and problems have to be claimed in the process of practical application:Accuracy Error as a top significant factor must be pay attention to,what’s more,the reliability and maneuverability should be comprehensively analyzed. This thesis is mainly to solve the following several aspects:(1) The3D models for some major components will be established by Solidworks and checked in the actual operability so as to layout the spatial position to the the slider type two rotation degrees of freedom parallel mechanism.And the analysis it’s own structure and movement posture for all the parts in the actual operability and overall performance.The kinematics simulation for this parallel mechanism is tested in the actual operation of rationality by ADAMS.(2)The position of overall organization is analyzed for the motion platform and the fixed platform.So the Space vector model will be established and the position of positive and negative solution of mathematical model will be deduced for the slider type two rotation degrees of freedom parallel mechanism.(3)The parallel mechanism will be analyzed when it is in the real work through the given constraints such as the length of the fixed link.the interference of fixed rod in the real workspace.the scope of the corner.the Slider in the guide rail travel. And Each constraint condition will be calculated. When the mathematic model that have been established will deduce the first-order response coefficient matrix with derivation.So as to set up and determine the math model of the special position for the local singularity of the organization and the boundary singularity and the structural singularity.The error model of the slider type two rotation degrees of freedom parallel mechanism will be deduced through the vector model that have been established with the theory of differential. And test the length error of the fixed rod,the slider drive error and the space of spherical hinge clearance error,what’s more,the corner of the x axis and y axis,which is used to need MATLAB.The pose-errors of the slider type two rotation degrees of freedom parallel mechanism are analyzed when it’s motion platform moves along the x axis rotation and y axis rotation.The reasonable results of calculation and the graphic trend are dissected through the MATAB.