Kinematics Analysis Of Libration Simulator With 3-(P-2SS) Parallel Mechanism

The libration simulator is one of the most important test equipment in the research of the libration engineering. The libration simulator with parallel structure shows several advantages,such as, higher stiffness, better symmetry,higher velocity,better dynamics and compact structure.In this dissertation, A new parallel mechanism with 3-(P-2SS) structure applied in the libration simulator is presented and studied in many fields. Producing the structural characteristic of the simulator .On the base of the studying of spatial mechanism,the unique direct kinematics and inverse kinematics are attained. Effects of different configration parameter on the workspace of the robot is analyzed. The 3D spatial figure and the section are drawed by Matlab, under configurable restriction.The kinematics transmission matrix and the force transmission matrix are obtained,then shape of the workspace outlines and the 3D entity are acquired, the moving dexterity and the force dexterity are made out.The glob kinematics transmission isotropy evaluation criteria and the glob force transmission isotropy evaluation criteria of the 3-(P-2SS) libration simulator are proposed.Underground it ,the effects figure of parameter on the glob capability of the simulator.After the work space of the simulator is confirmed,designing the parameter of the libration simulator.Under Pro/E , on the analyzing of Pro/E ,the motion simulation is made. the structure and did the moving emulator is designed,and with Matlab the foregoing kinematics is testified.