.3-virtual Prototype Design And Simulation Of The Rrr Parallel Institutions

This paper researched the three-degree-of-freedom spherical parallel manipulator. Mechanism design, displacement analysis, workspace, kinematics analysis, dynamics analysis and stiffness analysis are studied by using virtual prototype technology.Based on the spherical parallel mechanism, the kinematics analysis was conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation inverse solution was deduced. In order to carry on kinematics and dynamics simulation, the prototype of the manipulator was created by using the three-dimensional parameter software I-DEAS and imported to software ADAMS through the interface between I-DEAS and ADAMS software. Then, a great deal of simulation is done with respect to the local workspace analysis, forward kinematics analysis and inverse kinematics analysis. Further more, the dynamic simulation is done. Then the optimization of the balance mechanism parameters is done to improve the mechanism capability. At last, the torque which the components endured is tested during the simulation of the working process and the simulation result is analyzed.These works provided a believable method of the parallel mechanism design by using the virtual prototype technology.