The Research And Analysis Of Variant Exechon Mechnism

The lower-mobility parallel mechanism is under its application restriction due to its problems such as: complex Couple of motion, small working space, difficult dynamic modeling, a serious shortage of attitude angle, complex drive control and difficult precision compensation. The Exechon parallel kinematic machine tool technology, broke the bottlenecks that hinder the application of parallel machine tool, which leads the parallel kinematic machine tool a good application prospect in manufacturing area, and many companies throughout the world obtained permission in the patent licensing. Unfortunately, the global high-tech tools technology is occupied by foreign patent monopoly, the price is expensive. Breaking the monopoly with a new series of independent intellectual property rights is an imminent thing.Take the structure of Exechon machine tool as a reference, the degrees of freedom and its nature of the mechanism is analyzed, and the assembly requirements of strict cause are found. Taking this as the starting point, a spatial parallel mechanism which has the similar structure with the Exechon machine tool is found from the configuration database. The new UPR-SPR-SPU parallel mechanism has simple assembly relationship. The specific contents are as follows:(1) The kinematics analysis of the new mechanism is carried out. The inverse solution and positive solution analysis of the parallel mechanism and the serial-parallel mechanism are researched respectively. The velocity analysis of the new mechanism is done by using vector method and the influence coefficient method respectively. The Jacobin matrix of the mechanism is obtained. At last, kinematics algorithm of mechanism by using numerical simulation verified the correctness.(2) The working space of the mechanism is solved by using Simulink model analysis and variable geometry method. Combined with the configuration characteristics of UPR-SPR-SPU series-parallel manufacturing center, the search algorithm of the working space of the mechanism is studied, the shape of the working space is drawn and the volume is obtained.(3) The transmission performance of the UPR-SPR-SPU parallel mechanism is researched using the transmission power performance evaluation index. The method of solving the moving velocity component and rotational velocity component under the drive of a single limb is presented. The transmission power coefficient when the mechanism in different positions is calculated.(4) The inverse dynamics of the UPR-SPR-SPU parallel mechanism is solved based on the virtual work principle. The Jacobin matrix of each branch is obtained. The simulation analysis is processed based on the dynamics algorithm and the driving force and driving speed and acceleration applied by the mechanism to undertake the external load imposed on the moving platform is calculated.