Parallel Attitude Adjustment Kinematics, Dynamics Analysis And Virtual Prototyping Technology Research

With the development of the modern technology in our country, automatization technology has been applied in the field of the complex manipulation based on the skills and sense of manipulators in order to improve the efficiency and assure quality.The CAEP (China Academy of Engineering Physics) project of "Special Assemble Mechanism Study" is presented for the flimsy and curve parts to be assembled. On account of error of accessory's gesture ,a wrist that installed between principal axis and handle adjusts accessory's gesture. The 3-DOF adjusting parallel mechanism is the key mechanism that has reliable capability and cabinet cubage.The 3-DOF adjusting parallel mechanism that possesses support restriction and closed loop of locomotion is complex multi-solid-body system. The kinematics and dynamics analysis of adjusting parallel mechanism and study of virtual prototyping in this thesis are important content which mainly study the structure design and optimization of adjusting parallel mechanism, modeling and simulation of kinematics, modeling and simulation of dynamics, simulation of control system and development of virtual prototyping of adjusting parallel mechanism.First, the study actuality of parallel robot especially adjusting parallel mechanism in home and abroad is summarized, and the development and study method of virtual prototyping technology used for simulation study of adjusting parallel mechanism is introduced in this thesis.Second, based on particular analysis of special assemble mechanism and adjusting mechanism, the initial structure model of 3-DOF adjusting parallel mechanism with passive link is established.Third, based on studies of inchworm mechanism, he structure of inchworm mechanism is established. At the same time, the structure and capability of piezoceramic actuator are researched and effects of dynamic response and phasic lagging are analyzed.Forth, The kinematics equation of the 3-DOF adjusting parallel mechanism is established based on parallel mechanism theory. The effect coefficients are getted. The dynamics equation is established based on Lagrange theory.Lastly, the simulation technology based on virtual prototyping is discussed deeply, and the simulation technology based on virtual prototyping is applied to the project study of adjusting parallel mechanism. The dynamics action of adjusting parallel mechanism could besimulated in the initial stage of design of adjusting parallel mechanism, so the design project could be compared and optimized before the manufacturing of the first principal prototyping of adjusting parallel mechanism, which could shorten the design period and promote the reliability of the system.