Performance Analysis And Size Optimization Design Of A Fire Monitor Based On Parallel Mechanism

At present, the research of less degrees of freedom parallel robot is in the ascendant, it isalso expanding in the industrial areas of application. Based on the characteristics of firemonitor operating mechanism, this paper introduces a kind of2-degree-of-freedom parallelmechanism with redundant drive used in fire monitor organization structure design.Due to that the kinematics analysis is the primary task of the robot mechanism design,this paper firstly analyses the positive and negative position solution, and established themathematical model of the positive and negative position solution. Secondly, the influencecoefficient method and virtual mechanism method are applied to build the first order and sec-ond order influence coefficient matrices. Then its correctness is verified through the compari-son with results of simulation with ADAMS software, this laid a foundation for the perform-ance analysis of the mechanism.Then, according to the inverse solution of position of the mechanism and constraint con-ditions, the workspace is achieved, and according to the characteristics of the work space, de-sign work space of mechanism is elected too.Finally, the global performance indexes of the workspace area, dexterity, force and mo-ment isotropic, speed, bearing capacity and stiffness etc are studied, and atlases of global per-formance index are drawn and analyzed. According to the performance atlases, the mecha-nism structure size parameters are optimized, and then a mechanism optimization design ex-ample is given, and the3D model of mechanism is established based on the parameters wegained finally.