Trajectory Synthesis And Planning Simulation Of 3-DOF Translational Parallel Robot Mechanism

With the advantages of high speed, accuracy and stiffness, good dynamic performance, few drive elements, low cost and compact structure, 3-DOF translational parallel robot's effect in industry is increasingly becoming unmeasurable and widely concerned by people. This dissertation deals systematically with the trajectory synthesis and planning simulation of 3-DOF translational parallel robot mechanisms based on topology structure theory and output motion matrix of parallel robot mechanism.Firstly,the parallel mechanisms were selected based on given spatial curve. Position equation was built and the forward and inverse position formulations are deduced. 3-DOF translational parallel robot mechanisms'five influencing factors were gained and further analyzed from influence matrix which was deduced from all-differential theory.Secondly,3-DOF translational parallel robot mechanism was synthesized based on the given spatial curves. The range of drive-limbs'transfer, cylinder's transfer, drive-limbs'running and parallel mechanism's singularity were obtained. Thus,the initializational assembly dimensions were also gained.Thirdly,trajectory planning of 3-DOF translational parallel robot mechanism was studied based on curves parameterization theory. The method of trajectory planning based on inverse position has been further consummated,and a new trajectory planning method based on Point Motion was put forward. The movement rules applied to the driving sliders were determined in order to make the moveable platform of the mechanism to move according to the expected path.Fourthly,take the 3-RPC parallel robot for example , the virtual prototype was designed by CAD software and the simulation experiments were done on it. At last, the analysis results and methods of trajectory planning before have been verified.Finally, the application of 3-RPC parallel mechanism on healing medical treatment instruments has been discussed meaningfully.Through above analysis and studies, we have had a clear and deeply knowledge about how the five influencing factors influence the trajectory of 3-DOF translational parallel robot mechanism,ways of parallel mechanism's trajectory planning have been put forward and consummated. The movement rules applied to the driving sliders were determined in order to make the moveable platform of the mechanism to move according to the expected path. All of this have made a good foundation to the manufacture and conrol of real prototype of 3-RPC parallel robot.