Structural Synthesis And Apply Of Four Degree Of Freedom Parallel Mechanism

With the continuous progress and development of the science and technology, the problems about vibration have becomed major reason that affected the function and life of all kinds of machines and equipments,precise instruments and meters,vehicle,vessels,aviation and space flight equipments, but the traditional one-DIM vibration absorber already can not meet the requirement.Therefore, it is actual meaning to put multi-DIM vibration absorber into effect.Supported by the National Science Foundation project—systematic theory of design and nonlinear decoupling control of multi-DIM vibration absorber imitating rubber(50375067), this paper presents that parallel mechanism of 4-DOF is used as the main mechanism of multi-DIM vibration absorber, associating elastic damping system with the primary component of mechanism. So energy absorption and power adaptive balance can be realized, consequently multi-DIM vibration absorption are realized.The main mechanism of multi-DIM vibration absorber is muiti-degrees-of-freedom parallel mechanism, so do some detailed researches for four-degree of space mechanism vibration absorber. It conclude that: at first, this paper realized the study on intelligence structural synthesis of the four-degree of space parallel robot mechanisms with VB and analyzed all the machine models; then selected the mechanism better for the vibration absorber from all the models; and do kinematics and dynamics analysis for mechanism of vibration absorber , includes analyzing of forward and inverse position, velocity, workspace, singular configuration and so on; last, given its characteristic curve of vibration absorber system by ADAMS software. One kind of intelligent structural synthesis software of the four-degree of space parallel robot mechanisms has been developed, which used to study the four-degree of space multi-DIM vibration absorber. Based on Single-Open-Chain unit theory,combining the knowledge such as computer graphics and so on,programming Kinematic-Pair Database and Single-Open-Chain Database with VB,realization the intelligent structural synthesis study for 4-DOF parallel mechanism,created 4-DOF(one translational and three rotations, two translationals and two rotations, three translationals and one rotation) parallel mechanism.It can realize the following functions:choice the number of the mechanism leg;calculates the number of different leg type;Demonstrates the structure of different mechanism type;dynamic revision for output mechanism and its leg.The multi-DIM vibration absorber system based on parallel mechanism, which has the characteristic of simple structure, compact mechanism, high accuracy, partially or fully decoupled mechanism easy for control and so on, has a better prospect for applying.