The Study Of The Performance Of A New Space Parallel Mechanism

Since the advent of robots,serial mechanisms take the main position.Due to the limitations of serial mechanisms,parallel mechanisms have become another focus of research.The parallel mechanism has a wide range of applications,such as motion simulators,industrial robots,micro-motion mechanisms,medical robos and operators.Therefore,the research on parallel mechanism not only plays an important role in the development of robot technology,but also has a profound impact on people's life.The research of parallel mechanism includes several aspects such as kinematics analysis,dynamics,workspace,singularity and scale synthesis.And there are also many research methods.The main theories or methods used in this paper are spiral theory,Lagrangian method,software modeling and analysis.This thesis mainly contains the basic analysis of 2-RRU&RSR parallel mechanism,which proposed by Professor LiBin.The mechanism can provide two rotations in two directions and one movement in one direction.The kinematics positive and inverse solution equations,workspaces,and kinetics were obtained.Load a certain motion trajectory on this manipulator and then get a series of simulation results.The research contents of this paper are as follows:(1)This paper elaborates the research background,the purpose and significance of the subject about 2R1 T parallel manipulator.This paper analyzes the research status and development of such parallel manipulator at home and abroad.(2)The 2-RRU&RSR parallel mechanism is modeled in Solidworks.The spiral theory is used to analyze the degree of freedom of the 2-RRU&RSR parallel mechanism to determin the type of motion of the mechanism.It is verified that the mechanism is a 3-DOF parallel mechanism with two rotations and one movement.(3)Then according to the structural characteristics of the organization,the kinematics equation of the institution is established.The calculations of positive and inverse solutions are obtained,and the numerical values are calculated using MATLAB software to simulate simple laws of motion.At the same time,using MATLAB software to analyze the relationship between the set of points that can be reached at the end of the mechanism and the input parameters of the mechanism,which is the analysis of the workspace.(4)Using the Lagrangian method to establish the rigid body dynamics model in modeling process.Using the software to establish the virtual prototype model of the 2RRU & RSR parallel mechanism,and then import ADAMS to simulate the dynamic inverse of the mechanism: set the path to the mechanism,so that the end of the mechanism moves according to the path,we can see that the input angle of the mechanism is constantly changing.Thereby,the variation law of the driving torque is obtained.