Research Of Hybrid Machnism For Machining Complex Parts

This paper based on the existing Delta parallel processing mechanism and proposes a new hybrid mechanism configuration for machining complex parts; design and devlop a Omni-Wrist parallel mechanism physical prototyping and control systems which combine with Delta parallel mechanism.1. Based on the Position and Orientation Characteristics Theory(POC), comprehensive analysis the configuration Omni-Wrist parallel mechanism and proposed hybrid mechanism configuration based on the freedom distribution method of hybrid mechanism. Construction the geometric and kinematic model of Omni-Wrist mechanism, through the analysis of kinematics, the forward and inverse position solution of equations and the equation of speed is investigated. Through programming the math model of Omni-Wrist parallel mechanism in Maple, three dimensional surface of the positive position solutions and space trajectories of three dimensional surface are obtained.2. Institution the virtual prototype of Omni-Wrist parallel mechanism in ADAMS, analysis and simulation the Omni-Wrist parallel mechanism through ADAMS software, and the graphical depiction of the kinematic characteristics, obtained the trajectory and working space of the mechanism, laying the theoretical foundations for design physical prototype and control system.3. Omni-Wrist parallel mechanism physical prototype is developed in this paper. Through establishing the scheme of Omni-Wrist parallel mechanism and considering with the requirements of system motivation and drive design, the mechanism structural, include static and dynamic platforms as well as branched-chain are obtaned, the design and development the physical prototype of Omni-Wrist mechanism are finished.,4. This paper has developed a control system based on PLC and Lab VIEW for Omni-Wrist mechanism. Using Lab VIEW as PC programming environment, a system control interface is developed, including motion control feature selection, data entry and display, and video surveillance. Using Siemens S7-200 series PLC as system motion controller, programming the motion of control system, the accurate position control of the mechanism is realized and the data communications between upper and lower computer through programming PC Access and NI Client is completed.