The3-UPU/UPU Parallel Mechanism Stiffness Simulation And Optimization

In order to improve the adaptability of the production environment to meet therapidly changing market demand, global machinery manufacturing active inexploration and the development of a variety of new multi-purpose manufacturingequipment and systems. In which the structure of technical breakthrough wasundoubtedly the nineties advent PKM (Parallel Kinematics Machines). As a parallelconfiguration of an important performance evaluation, static stiffness is not onlyrelated to the topology of the robot mechanism, but also closely related to the scaleparameter of the cross-sectional parameters. The static and dynamic characteristics ofthe stiffness of the parallel mechanism to influence it and load positioning accuracy,therefore, for the design of a large stiffness parallel robot based static stiffnessperformance analysis and design parameters to optimize the design study is essential.Based on the theoretical analysis, virtual simulation auxiliary using MatLab, Pro/E, ANSYS Workbench engineering software, to carry out the3-UPU/UPU parallelrobot mechanism kinematics simulation and stiffness performance analysis andoptimization. Mainly in the following aspects were studied:(1) This paper overview parallel robot development process, status quo anddevelopment trend of parallel institutions, the significance of this research.(2) Around the space three-dimensional the mobile3-UPU/UPU parallel robotmechanism, the establishment of the kinematics model and position, velocity mappingequation, kinematics performance analysis, and the use of multi-body systemdynamics simulation software RecurDyn V7R3kinematics simulation.(3) Combination3-UPU/UPU kinematic characteristics, the establishment of theinstitution of the conservation of mass stiffness, the global stiffness and local stiffnessanalytical model; launch of this body stiffness mapping formula based on theconservation of mass stiffness matrix, research the3-UPU/UPU institutionsworkstiffness distribution and stiffness properties of the space.(4) Population size as design variables, the upper and lower surface of the radiusof the constraints, the maximum stiffness of the organization as a whole as theobjective function, the use of genetic algorithm to optimize the stiffness of the3-UPU/UPU parallel mechanism. (5) By means of the substructure synthesis of ideas and ANSYS parametricdesign language, a finite element modeling method in3-UPU/UPU parallelmechanism and the specific implementation process, the use of ANSYS Workbench3-UPU/UPU parallel mechanismfinite element analysis.This issue through less DOF3-UPU/UPU parallel mechanism stiffnessoptimization of the research and development of such new products have a greatreference significance has important practical significance, and less freedom parallelmechanism applications.