Direct Kinematics And Application For 6-PUS Parallel Manipulator

Parallel machine tool is the perfect combination of modern robotics and machine tooltechnology, due to its own characteristics and advantages, in many areas have been widelyused. The analysis of the robot’s position for robot input component, the positionrelationship between the output components, that is the most fundamental tasks of robotmotion analysis, but also the basis task of the researches. It is very difficult to solving thedirect kinematics of parallel mechanism, so far, there is no comprehensive way to seek acommon solution for all agencies mathematically.The subject of a prototype parallel machine 6-PUS platform to quickly calculate theparallel machine tool solution and positive solution of the target in real-time display of theresults for the moving platform, combined with the structural characteristics of themachine to the three numerical calculation analysis and comparison of the method as away to ultimately choose the best solution is calculated to achieve the application.Firstly, the analysis of the differential evolution algorithm to start a concrete analysisof the calculation steps and the implementation of the algorithm, the algorithm is appliedto the calculation of positive solutions, and the calculation results were verified.Followed by another positive solution of numerical calculation methods - the pathtracking algorithm to complete the calculation of Positive Solutions. The computationalidea is to use slightly changed the relationship between the slider and the moving platformto build the optimization equation, positive solution results point by point tracking movingplatform, the path proceeds. Repeatedly calculated to verify the algorithm has auniqueness and meet the accuracy requirements of the new optimization idea for thealgorithm to achieve the purpose of the calculation speed.Finally, Newton’s iterative method of Positive Solutions, through repeatedcalculations show that the algorithm is in the workspace to meet the accuracyrequirements, proposed a new algorithm to optimize the analysis of the relationshipbetween the calculation error of the algorithm to take the position, after calculation toverify the positive solution of optimization algorithm can effectively reduce the computation time.Adams to simulate the movement of the machine, and will compare the simulationresults with the simulation curve of positive solutions to verify the correctness of thealgorithm to calculate the results. Three calculation methods of Positive Solutions for theoverall analysis and comparison, select the optimized Newton iterative method for thedisplay of positive solutions, the use of Positive Solutions for the experimental simulationmachine to draw the circle and the five-pointed star, the path is completely consistent, thefinal application Matcom Matlab program into the VC language, added to control thedisplay of the machine overall program to achieve the display.