Design Of Variant Diamond Mechanism For Experimental Teaching

This dissertation focus upon development of the experimental teaching system of parallel manipulator. The constructed technology of variant Diamond mechanism is researched. The contents involve the kinematic analysing, dimensional synthesis, trajectory planning, the solid modeling and kinematic simulating etc.The following productions of research have been achieved.q Under consideration and according to the vector theory, analytical representations of inverse and forward kinematics are formulated in conjunction with the velocity and acceleration analysis. Three type mechanism's uncertainty configurations are analysed.q It has been found that the mean value of condition number of the Jacobian matrix is not suitable for evaluating the kinematic performance of the parallel mechanisms driven by external actuators. A global and comprehensive cost function is proposed by considering both the mean value and fluctuation of the condition number of Jacobian matrix. Meanwhile, a set of appropriate constraints has been considered in terms of the force transmission behavior, the machine volume/workspace ratio, and the feasibility in practical implementation.q Using Pro/ENGINEER, the software, the solid model of the horizon layout variant parallel manipulator is built, and kinematic simulation is realized in the model.q Based on MATLAB, the experimental platform of parallel manipulator has been exploited.