The Shock Effect Of Parallel Gas Flow Test Rig Motion Simulation

The purpose of this paper is to design a new kind of jet flow test system with parallel robotics which has high-precision, high stiffness. The paper studies the position, work- space, kinematic dynamic and so on of the system.First, the article analyzes the structure of the system. The system is designed in the form of non-symmetrical parallel manipulator. It only has three translational degrees of freedom. According to the need of rocket jet flow test, define the specific size of every part. Establish coordinate system on both up and down platform. Analyze the inverse and forward position of the manipulator. Derive the Jacobian matrix and Hessian matrix of the system. At last we simulate the kinematics of the manipulator.Followed by, we analyze the workspace of the manipulator. The boundary of the workspace is found using a fast search method. Giving the constraints of several limitations, we can scan the outline of the workspace. In order to optimize the workspace, several parameters which may affect the shape of the workspace are studied. Let the Jacobian matrix equals 0 find out the singular position in the workspace.Then we analyzed the mechanical properties of the manipulator. At first, we analyze the static mechanical properties of the manipulator. We select two sections of the workspace, and use the virtual work method to calculate the static characteristics of the 6 screws. Then obtain the Lagrange equations of the manipulator.At the end of this paper, we use the multi-body dynamics simulation software to simulate the system. Compared with the previous work we did, we can verify the correctness of the result.The conclusions we get from the article are important to optimize the manipulator.