Research On The Configuration And Key Problems Of A Kinematic Decoupled Parallel Mechanism With Sphere Workspace

As a kind of parallel mechanism,the spherical parallel mechanism has extensive engineering application value.As an important index for evaluating the parallel mechanism,the research of workspace has always been one of the hot topics in the field of parallel mechanism both at home and abroad.This paper mainly studies the design idea and configuration method of decoupled parallel mechanism with spherical workspace,as well as kinematics,statics and size optimization of the mechanism.The main content of this paper is as follows:1.In view of the differential characteristics of the input and output angle of the double rocker mechanism,it is integrated with the linear input and rotating crank slider mechanism.And consider the output rod rotation friction circle limiting factors,a new kinematical chain with linear input and angle output range of 180 degree be proposed.2.The combination of the proposed new kinematical chain and the rotational input and output kinematical chain,a kinematic decoupled spherical parallel mechanism that can achieve sphere workspace be proposed.3.The closed vector method is used to establish the kinematic model of the single kinematical chain of the spherical parallel mechanism,and the direct and reverse solutions of position,velocity,and acceleration are derived.The Jacobian matrix shows that the kinematic decoupled mechanism,and investigated by the Jacobian matrix determinant of the singularity of the mechanism.4.Through the establishment of relations between the input and output mechanism of static,static mechanism of Jacobian matrix is derived.The dynamic equation of the new kinematical chain of the spherical parallel mechanism is derived by Lagrange method.5.Based on the statics model of multi bar kinematical chain of the mechanism,a size optimization model with the driving force as the optimal target and the rotational output angle as the constraint condition is established.The MATLAB optimization toolbox is used to calculate the optimized objective function model.Through the ADAMS kinematics simulation analysis and the comparison of the driving force curve before and after the optimization,the effectiveness of the optimization results is proved.6.ADAMS virtual prototype simulation model of the spherical parallel mechanism,the space trajectory simulation of moving platform reference point,it is proved that the parallel mechanism can achieve sphere workspaceThe proposed spherical workspace parallel mechanism configuration enriches the type of spherical parallel mechanism,and the related basic analysis lays a theoretical foundation for the practical application of the mechanism.