The Research On The Workspace And The Finite Element Of 3-RPS Parallel Mechanism

In contrast to the series mechanism, parallel mechanism stiffness weight ratio is high, the parallel mechanism with its configuration is simple, low cost, strong controllability, fast response, the advantages of flexible structure plays a more and more important role in the field of Engineering. But the parallel mechanism with the characteristic of multi loop makes its workspace and the trajectory planning is difficult to solve.3-RPS parallel mechanism studied in this paper is a less degree of freedom parallel mechanism. A systematic theoretical study on mechanism is made in this paper. Based on the mechanism analysis, in-depth study of the finite element kinematics, working space, trajectory planning, mechanism etc.is made.In this paper, a study to 3-RPS parallel mechanism was studied, The main research contents include:Analysising the 3-RPS mechanism, inverse solution is obtained with its geometric characteristics. Based on the inverse kinematics, program is programmed, with MATLAB software the limit space search method is used to simulate the workspace of the 3-RPS parallel mechanism, the result obtained is compared to that obtained by he Euler algorithm; Based on the results, the mechanism parameters influence to the workspace is analysised. According to the needs of the work, linear and helical movement of the 3-RPS parallel mechanism is planned.For the convenience of users, GUI system simulation interface of the 3-RPS parallel mechanism is established. Analysising the finite elements of mechanism with ANSYS software, the analysis results accord with the actual requirements of accuracy. Analysising the modal of mechanism, get the natural frequency and mode of vibration mechanism, and the dynamics performance are evaluated according to the simulation results.