| With multiple branches, multiple drives, high-precision and high load capacity of Thespatial parallel mechanism is favored by many scholars. In order to explore more new parallelmechanisms, the3-PPRS parallel mechanism is proposed. The degree of freedom of the3-PPRS parallel mechanism is analyzed. The kinematics, workspace and virtual prototypesimulation are further studied.Firstly, the3-PPRS parallel mechanism is proposed. Its configuration is designed, Thedegree of freedom of3-PPRS parallel mechanism is calculated by using traditionalKutzbach-Grübler formula. and screw theory. Its DOF is six at last.Secondly, the kinematic of3-PPRS parallel mechanism is studied. Based on the rotationmatrix, the inverse solution of position is analyzed, the equations of inverse solution areestablished by link length constraints; by using space vector method, the equations of theforward solution of position are established, a single parametric equation of higher degree isobtained after elimination, all of the forward solutions of the3-PPRS parallel mechanism aresolved by MATLAB program. The numerical verification is put up to the results of forwardand inverse solutions, and their solutions are coincident with each other; by vector relations,the constraint equations is established, after derivation with respect to time of the equations,the speed and acceleration is solved, thereby the first-order and second-order effect coefficientof3-PPRS parallel mechanism are obtained.Then, the workspace of3-PPRS parallel mechanism is researched. Based on the inversesolution of position, the workspace is solved by using numerical search method.The locationof all points meeting the conditions is recorded by MATLAB programming. The workspace ofthree-dimension is exported. By changing the output range of Euler angles, the influence ofthe Euler angles for the workspace is researched.Finally, the kinematics and dynamics simulation for the3-PPRS parallel mechanism ismade. Giving trajectory of the output terminal, the kinematics simulation is conducted, and the measurement of six electric motors’ character such as velocity and acceleration curve ismade. Comparing with theoretical curve, the validity of the simulation is verified; the inversesolutions of position are imposed on the six driving motors, meanwhile a force and a momentof force is added to the moving platform, and six drivers’driving force and power are studied.Through the analysis and research, velocity, acceleration, driving force, driving force anddriving powers of the motors, change smoothly, without transient, which laid a foundation forsubsequent experimental study. |
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