Analysis And Simulation Of Dynamic Performance Of A Spherical Parallel Mechanism

This paper analyzes a spherical parallel mechanism on kinematical and dynami-cal performance.Firstly, the spatial configuration of a3-RRR parallel mechanism is analyzed byusing spherical analytic theory, get the position vector of nine rotational joints at anytime, then the first order influence coefficient matrix and the second order influencecoefficient matrix are established by adopting the direct methods of lower-mobilityparallel mechanism, the simulation curve of output speed and acceleration are sepa-rately calculated by using influence coefficient method and ADAMS simulationmethod, the correctness of the influence coefficient matrix is verified.Secondly, the velocity and acceleration of the3-RRR mechanism are analyzed,the performance atlases are given. Furthermore, changing the mechanism dimensions,the active link and follower link are been as the structure parameter, and the workspaces of the mechanisms with different dimensions are searched. Then the influenceof change of mechanism dimensions on the mechanism performance is discussedwithin the range of accessible work space.Finally, an improvement scheme for the initial position in unstable form of the3-RRR parallel mechanism is put forward. The bearing capacity is improved by usingthe redundancy branched chain. The ADAMS on the kinematic simulation is used,including the forward kinematics and the inverse kinematics simulation. Then, thedynamic simulation is done. The optimization of the balance mechanism parameters isdone to improve the mechanism capability.In this paper, the dynamic performance of3-RRR parallel mechanism is ana-lyzed by kinematic influence coefficient theory and dynamic performance indicestheory of lower-mobility parallel mechanism. Then the parallel mechanism is ana-lyzed by the virtual prototype technology optimization. And it should have some ac-tively significance for the mechanism design.