Research On Less DOF Parallel Mechanism Based On The 3-RRRT Parallel Manipulator

To explore the kinematic and dynamic characteristics of less DOF parallel mechanism, we set the 3-RRRT parallel manipulator as the research object. Using the knowledge of advanced spatial mechanism and the homogeneous coordinate transformation method, we achieve a kind of suitable way for the positive and negative solutions of the kinematics of parallel mechanism in detail. We use the MATLAB software to get the solution of the mathematical model, realize the simulation in ADAMS software and the PRO/E software, which verifies the correctness of mathematical model in multi-aspect. In dynamic research,, this paper shows how to use the recurrence formula of Kane dynamic equation to achieve the kinetic parameters of parallel mechanism, and realize the deep dynamic analysis and simulation of 3-RRRT parallel manipulator in the ADAMS software. Through the study on flexible dynamic characteristics, we also do some research of the flexible dynamics on parallel mechanism. Finally, in the ANSYS WORKBENCH environment, we show the detailed process of structure optimization design from different angles and different methods and achieve a series of optimization results.