Type Synthesis Of Translationgal Decoupled Parallel Mechanisms And The Prototype Development

Compared with the general parallel mechanism, the difficulty of theoretical analysisfor decoupled parallel mechanisms has been significantly reduced and the design task isalso easier to ensure, which display good practical significances to improve the controlprecision and the development of high-speed parallel robot mechanisms. This paper,aiming at guiding the practical engineering and searching for an efficient synthesis methodfor the translational decoupled parallel mechanism (TDPM), based on the screw theory, acomprehensively systematic study and synthesis of the TDPM is presented. Main contentsof this paper are as follows:Using the screw theory, the realization conditions of the degree of freedom (DOF) forthe TDPM are analyzed and the configurations principles of the kinematic pair for theTDPM are summarized, they provide a theoretical foundation for the branches typesynthesis of mechanisms. The type synthesis method of TDPM is proposed and its processis also presented.All types of limbs satisfied the requirements of the TDPM are determined based onDOFs of the mechanism. When the type of Limb one is confirmed, the other type ofLimbs can be obtained by DOFs of the required mechanism and the rotation conditions.Many novel2DOFs TDPMs with two limbs and3DOFs TDPMs with three limbs areobtained.Selecting the better one from the new TDPM that have gained as the prototype andbasic analyses of it are presented. Based on the performance analysis, optimizing of theorganization’s configuration is proposed, meanwhile sizes of parts and the wholeprototype are obtained, via the SolidWorks software basic model of the prototype is raised,details for the design and manufacture are accounted simultaneously.According to the application purpose and structure characteristics of the prototype, amotion controlling scheme is advanced, which consists of PC, motion control card, servodrive system and the sensor system. Then, the composition of the control system hardwareand operating theory of the motion controlling scheme are introduced in detail, by integrating the controlling scheme parts, the controller-cabinet is manufactured andexperimental researches on the prototype are operated through the designed controlsystem.