| Currently, the study of 6 degrees of freedom parallel manipulators has become increasingly mature, while the studies of lower-mobility parallel manipulators are less. With respect to 6-DOF parallel manipulators, lower-mobility parallel manipulators has some advantages, like a simple structure, the lower coupling, large workspace, low prices and controllable, so its application range becomes more widely. In this paper, a new 3-DOF parallel manipulator with a redundant constraint is proposed. And it is used in the design of the converter tilting mechanism.First of all, the paper analysises the performances of the mechanism. The whole study includes several aspects, like position analysis, workspace analysis, kinematics analysis, dynamic analysis. Based on vector method, the position model is built, and the inverse displacement analysis is obtained. Utilizing the CAD variation geometry method and Solidworks software, the workspace of main body is drawed out. Utilizing the independent variables, the paper computes the Jacobian matix and the Hessian matrix of the manipulator, the kinematics model is built. Utilizing the principle of virtual work, the paper deduces the relational expression of the dynamic load and the driving force, the dynamic model is built. Utilizing the CAD software and Matlab software, the paper analysises the kinematics model and the dynamic model, and verifies the correctness of the simulation results.Based on the analysis of the entire parallel manipulator, this paper is applied to the converter tilting mechanism. In this paper, a three-dimensional solid model of 2.2t converter tilting mechanism is built, and the loads of converter in the different working conditions is analyzed using “Cut Liquid Method”. The sizes of the main parameters are optimized. In the end, the paper analysises the features of the current balancing devices, designs the related balancing device and verifies its rationality with the geometry method. |
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