Kinematics Simulation Of A 3-DOF Hybrid Mechanism And Research Of Static Characteristics Of Its Mobile Joints

The paper mainly studied a 3-DOF hybrid mechanism,kinematics solution of the hybrid mechanism,kinematics virtual prototyping simulation of the hybrid mechanism,static characteristics analysis for the plane joints of the sliding mobile joints, static stiffness experiment for the guides joints of the rolling mobile joints, etc. After fully analyzed the research status at home and abroad on the mechanism and the design of lack-DOF parallel mechanisms and hybrid mechanisms, this paper analyzed a 3-DOF hybrid mechanism, solved the kinematics of its parallel mechanism, including the positive position solution,the inverse position solution,velocity Jacobin matrix,acceleration,singularity positions,workspace,the angles of the passive joints and so on. The kinematics virtual prototype of the hybrid mechanism was simulated with ADAMS, which verified the results of analysis and feasibility of design scheme in this paper. Besides, the research for the sliding mobile joints was done, the theory analysis was employed to settle a rectangle contact element of the sliding mobile joints in the method which was usually used in the static characteristics problem of plane machine joints. Meanwhile, program flowchart was presented, and the software program was actualized based on FORTRAN in this paper. At last, guides joints' static stiffness experiment of the rolling mobile joints was accomplished to provide a reference for the static stiffness characteristics analysis of the hybrid mechanism.