Performance Of Planar3-RRP Parallel Mechanism

Because of Parallel mechanism has a strong bearing capacity, high stiffness and goodaccuracy performance is widespread concern areas of expertise. Parallel mechanism with fewdegree not only have the advantages that characterized by all the parallel mechanisms, such assimple structure, low manufacturing cost, easy to implement accurate contro l and otheradvanteges. Because of these advantages, parallel mechanisms with few degree of freedomattracted wide attention from the field of study parallel mechanisms. This paper selects3-RRPplanar parallel mechanism as a research object, through the establishment of institutionalmodel analysis of the model kinematics, dynamics and mechanism accuracy. Results of theirresearch fill the gaps of3-RRP planar parallel mechanism while the other performance of theorganization provides a theoretical basis for further research.First carries on the kinematics analysis, by using the rotation matrix, obtained modelpositive and inverse solution. Because of the structural characteristics of parallel mechanismsolving the inverse solution, it is easier than positive solution of mechanism position.Therefore, paper attempts using a new intelligent algorithm: BP neural network algorithm,when solving positive solution of mechanism position. Using the software of ADAMS toemulation, we can get the curve of the moving platform, including displacement, velocity andacceleration. Using the positive solution of mechanism position to obtain the Jacobian matrix,through the research of Jacobian matrix we can obtain the singular position of institution.Secondly，to analyze the dynamics of parallel mechanism，the principle of virtual work tosolve the inverse equations of dynamics，while using ADAMS software to simulate theend-effector in the in the case of four different external force，make the comparison of thepower consumption for three driving when end-effector complete8-shaped trajectory, itprovides a theoretical basis to further study the dynamics.Tertiary，on the basis of kinematic analysis， utilizing the principle of the calculus,derived the deviation positive Solutions of equations, Use software Matlab to make the deviation positive solutions model enter the drawing，finally got the regular of the drive anglechange impact on the change of moving platform position and orientation error, it alsoprovides a theoretical basis to further study the accuracy analysts.Finally，through researching the single branched deviation of3-RRP planar parallel，tojudge the influence of original Deviation agencies for the output of accuracy movingplatform，using Matlab export the results to Graphics，making the results more intuitive. Bythe studying of this chapter，it provides a theoretical basis for the research work of precisionparallel mechanism，such as accuracy Compensation etc.