| Parallel mechanism had been used more and more widely in the fields of technology of parallel kinematic machines(PKM), motion simulators, industrial and medical robots and so on as its characteristics of high movement accuracy, strong carrying capacity, high stiffness-to-weight ratio, fast response speed and structure stability. As serial mechanism was difficult to achieve the trajectory of complex spatial curved surface, a 6-HUS parallel mobile platform which could operate along the space curve and curved surface was proposed, then its kinematics, dynamics, workspace, control system and virtual simulation based on ADAMS software were analyzed and researched, and the main research contents were shown as follows:Firstly, the structure model of the 6-HUS parallel mobile platform was described briefly, and the kinematics equation was established by space vector method. The velocity mapping relationship between the mobile platform and the screw slider of the 6-HUS parallel mobile platform was built by space vector method and direct differentiation method respectively, so the Jacobian matrix and Hessian matrix from the screw slider to the mobile platform could be derived directly. Secondly, based on the foundation of simplified analysis with the parallel mobile platform model, the kinetic equation of 6-HUS parallel mobile platform was built by Lagrange method according to virtual work principle. Combined with the given dynamic example, the driving force of every screw slider were carried out through solving kinetic equation by Matlab software, and it could help to provide theoretical references for subsequent dynamic simulation of virtual prototype. Thirdly, combined with the several factors which effect workspace of parallel mechanism, the workspace of the 6-HUS parallel mobile platform could be determined by limited boundary search method which was based on inverse kinematics. And the position workspace with respect to a variety of postures was drawn by Matlab software, which realized the visual analysis for the workspace of the 6-HUS parallel mobile platform. Then, the simulation analysis of the virtual prototype of the 6-HUS parallel mobile platform which was built by SolidWorks software was taken based on ADAMS software, and the simulation result was verified that the kinematic equation and kinetic equation were correct. Finally, the control system of 6-HUS parallel mobile platform was designed on the basis of LINUXCNC which was the open CNC system, and it realized the motion control of the 6-HUS parallel mobile platform. |
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