Kinematic Analysis And Trajectory Planning Of 3-PCR Parallel Mechanism

With its own advantages,parallel mechanism are more and more used in modern industrial production,especially,less degree of freedom parallel mechanism has the advantages of simple structure,low cost,less drive rod number,ect.It has become the hotspot of scientific research personnels’ researches in recent years.In order to make the 3-PCR Parallel Mechanism better applied in industrial practice,this article has made a deep research on its motion performance and trajectory planning:First of all,based on the understanding of the currently research status of domestic and foreign scholars on this mechanism,the structural characteristics,spatial degrees of freedom and other aspects of 3-PCR Parallel Mechanism are analyzed,coordinate transformation method are used to solve the mathematical equations position inverse solution,velocity inverse solution and acceleration inverse solution,etc.and the MATLAB is used to simulate the motion characteristics of this mechanism.Secondly,a three-dimensional solid model of 3-PCR Parallel Mechanism are established,the Adams multi body dynamics simulation software is used to add multi-DOF drive to the mechanism moving platform center,whose results are compared with MATLAB simulation results,verifying the correctness of the theoretical analysis;a single degree of freedom drive has been added into three driving rod,the trajectory of the moving platform has been verified,which laid a foundation for the subsequent 3-PCR Parallel Mechanism’s applying research and simulation.Finally,the main body and the sieve surface of a multidimensional screening machine based on 3-PCR Parallel Mechanism has been designed,according to the different engineering practical requirements different screen surface movement forms are designed and planed,whose motion characteristics are analyzed.A laser cutting machine based on 3-PCR Parallel Mechanism has been designed and the cutting simulation of two simple parts with ADAMS has been done.