Based On 3-hss Parallel Machine Tool Kinematics And Dynamics Analysis

In this thesis, the kinematics features and dynamics features of a 3-DOF ParallelMechanism with parallelogram chains are systematically analyzed via the theoreticaltools.The overview of parallel mechanism research domain, including theforward-inverse solution, singularity analysis, dexterity, workspace analysis asgradients of kinematics analysis and modeling methodology, control strategy theoryas parts of dynamics analysis, is presented.Geometry method is adopted to analyze the forward-inverse kinematicsproblems of parallel mechanism, and then a more concise kinematics expression isestablished.In the singularity analysis sphere, a method to establish Jacobian Matrix whichis based on the input-output velocity is concerned. The 3-HSS parallel mechanism isstudied as an example, according to the novel full-inverse Jacobian methodology, animproved conclusion is made.In the workspace sphere, geometry method is concerned to analyze the 3-HSSparallel mechanism, and a maxim inscribed workspace is calculated, which is a goodreference to the optimization and trajectory-planning of this mechanism.Several dynamics modeling method are concerned, and the Lagrangian model ischosen. A clear conceptive standard dynamics equation is established through themeticulous analysis towards the structure features of parallel mechanism.