The Kinematic Analysis And Simulation Research Of A Kind Of New Type 3-RPUR Parallel Mechanism

Spatial imperfect-DOF parallel robots have received much attention for the advantages of their simple mechanism, low cost in designing, manufacturing, and controlling, comparing with traditional six-DOF parallel mechanism. Especially symmetric imperfect-DOF parallel mechanism with identical branch, symmetric construction, isotropy have bigger applicable potentiality. In this dissertation, on the basis of analysis the current situation of 3-RPUR parallel robot home and abroad,some important theoretical issues especially position analysis is studied concerning 3-RPUR translational parallel mechanism. The research is financed by National natural Foundation.At first, the structure character of 3-RPUR parallel mechanism is considered and counted the number of the freedom degree. The accuracy of choosing input of the initial position shape is considered based on the analysis of characteristics, the amount of DOF for 3-RPUR parallel mechanism and the reciprocal screw and screw system dependency. Then, the accuracy of choosing input of the common position shape is considered with a way named Klein Mapping.Second, according to geometrical quality of the mechanism, this paper has set up the restrict equation and got the solution, then has solved the position of the mechanism with continuation approach.Third, the jacobian matrix of 3-RPUR parallel mechanism is established by using the method called imaginary mechanism, then establish the velocity equation, and draw the input velocity change curve under the condition of uniform motion of the motion platform. The quadratic matrix has been founded with the same method and the acceleration has been solved.Fourth, the ideal workspaces at different condition are studied with the numerical boundary-searching algorithm based on the limitation of the link length, the appearance of the ideal workspace with given parameters ispresented based on Matlab platform. Then, the disciplinarian which is theinfection of the limitation of the angle to the ideal workspaces has been workedout. At last, the singularity of the mechanism was analyzed.Finally, the kinematics of the parallel mechanism is simulated by usingSolidworks. The previous job's visibility of the parallel mechanism is achieved.