Kinematics And Performance Analysis Of2-PRU-PRRU Parallel Manipulator

This thesis focuses on the kinematics and performance analysis of2-PRU-PRRU parallelmanipulator without parasitic motion. The main achievements are as follows:Mobility characteristic of the manipulator is studied by means of screw theory，and theforward and inverse kinematics are constructed. According to the analysis above, the velocitymapping matrices from the input to the output is obtained, namely velocity Jacobi. Throughcalculating determinant of the Jacobi matrix, boundary, local and combined singularities areidentified.The tilt ability of the moving platform is derived from the perspective of the singularproperty of the2-PRU-PRRU parallel manipulator. In the foundation of the analysis above, theimpact of U joint on the tilt ability of the moving platform is investigated to avoid theinterference of the U joints. Based on the numerical search method, the workspace is plotted byMATLAB.The mobility characteristic, the forward and inverse kinematic models and the propertywithout parasitic motion are verified through constructing the2-PRU-PRRU prototype in bothSolidWorks and ADAMS. On the result of kinematic simulation, the velocity and accelerationare analyzed.To meet the requirements of the2-PRU-PRRU parallel manipulator design, all the indicesconcerning pressure angle, dexterity, stiffness, load are defined. The influence of differentdimensions on the properties of the2-PRU-PRRU parallel manipulator is considered by theestablishment of target function. Combined with the workspace index, the optimization auxiliarysoftware "parameter guidance" is designed by GUI tool of MATLAB. Thus, multipleoptimization targets can be integrated and optimized for parallel manipulator with multipleparameters and optimization targets. The figures of performance indices are drew and analyzedin the workspace on the basis of optimization parameters.The achievements are helpful for dynamics analysis and the research of the2-PRU-PRRUprototype.