Kinematics Research And Simulation Of Principal Axis Based On 3-PRS Parallel Mechanism

In order to adapt to the increasing needs of the market, human beings always devote themselves to research and produce the manufacturing equipments of new type. When the parallel mechanism was produced in 1990s, it has become the hot spot in the research of the machine tool, and praised as "the great revolution of the mechanistic tool". In the paper,the write mainly introduces the latest situation of the parallel mechanism research home and abroad, its using field and the development trend as well. Moreover, the writer put forward the concept of 3-PRS Parallel Structure Axis.3-PRS parallel structure axis are that one kind takes parallel organization as structure 3 liberty degree chief axis component of piece, but apply to the numerical control machine tool forming many coordinates rapidly. and introduces some of its advantages, such as simple structure, low cost, high speed of produce, low inertia, and so on.In the paper, the writer establishes a mathematical model of the principal axis firstly for analyzing the Inverse kinematics of the parallel machine. In this step, it needs to assure the size and length of each structural member, the type of the movement, as well as the LOCA of the basic and mobile platform and all of the structural members. Then, the writer give the definition of the Mobile and Base coordinate system, at the same time gets the result that the 3-PRS principal axis of the parallel mechanism owning three DOFs by computing. In other words, it moves along the Z axis and turns around the X and Y axis.. Next, the discussion on the Inverse kinematics of the 3-PRS principal axis of parallel machine is based on Mobile coordinate system.. The Trajectory planning of the line, circle and spire can be drawn by using the model of the Inverse kinematics.The simulation of the principal axis in the kinematics animated way is proceeded, after the Inverse kinematics analysis. In the situation of the VC++, it needs to invoke the figure function from the OpenGL function Library for establishing the three-dimensional model of he principal axis. and the simulation environment The principal axis 3d animation simulation can be realized by availing OpenGL function of double buffering, transferring matrix and displaying list, based on the data of The Trajectory planning of the line, circle and spire.The complicated movement of the space mechanism can be shown directly through the three-dimensional entity model animation simulation of the principal axis, which provides condtion to space analysis and numerical control procedure establishment .It is the important segment in the optimizing parallel structure axis.