Preformance Analysis And Simulation For Mechanism 4RPR (RR)

The lower-mobility parallel mechanisms are presently hot topics in the field of robotics research. A lot of scholars have open out varieties of novel mechanisms. But before they enter into the field of actual engineering applications comprehensive investigations must be done. Therefore this paper analyzes two lower-mobility mechanisms.In this paper firstly a new type lower-mobility parallel symmetrical mechanisms—4RPR(RR) has been discussed chiefly including its mechanistic characteristic and its motion based on screw theory. Meanwhile its freedom has been calculated and inverse kinematics on this kind of mechanisms is presented. Furthermore one-order and two-order influence coefficient matrices and kinematics model are erected based on nominal mechanism influence coefficient advanced by Pro. Huang. As well as we open up a set of performance analysis and imitating software using a new kind of performance evaluating index based on one-order Jacobian matrices and two-order Hessian matrices. From which we analyze the kinematics and dynamics properties and put forward a set of mechanism' parameters which angle accelerator performance is very well. Secondly it is presented how to protract simply three-dimension solid simulation model and its motion of the plane parallel mechanism 3RRR and special 4RPR(RR) with drawing and VISC(visualization in scientific computing) of Matlab. From computer solid motion simulation we verify the theoretical conclusions on performance analysis of the two mechanisms. First we analyze directly their singularity poser from the model' motion. Second Comparing to the simulating curves from solid motion with influential coefficient method they're completely anastomosed. These show it's feasible that we analyze seldom-mobility' motion performances with nominal mechanism influence coefficient advanced by Pro. Huang. Third comparing optimized with un-optimized solid acceleration curves shows that the optimized actually take on fine dynamics performance. At the same time it...