| Parallel robot is one of the hot spots in the field of robot research.It is gradually applied in the field of medical rehabilitation to assist patients in rehabilitation training.Aiming at the problem of dynamic balance training of human body,this paper proposes a 3-RSS/S parallel robot motion platform that can meet its needs,and analyzed,modeled and simulated its configuration,mechanical characteristics,kinematics and dynamics.The main contents of this paper are as follows(1)The morphological structure of human body and the maintenance mechanism of balance function are expounded.From the perspective of human anatomy,the distribution of bone and muscle of human lower limbs,the maintenance mechanism and evaluation method of human balance function are introduced.(2)The structure of 3-RSS/S parallel robot is designed and analyzed.According to the working requirements of parallel robots,the SOLIDWORKS software was used to design the 3d model of mechanical structure.The model was imported into the finite element analysis software MSC.PARTAN,and the modal analysis and stress analysis were carried out on the mechanism in combination with the actual working conditions to obtain the modal mode and the maximum stress distribution position,which verified the rationality and reliability of the structure design.(3)Kinematics and dynamics modeling of 3-RSS/S parallel robot was carried out.According to the mechanism configuration,the degree of freedom is calculated.Then the coordinate system is established to obtain the homogeneous coordinate transformation equation and the coordinates of each node,and then the inverse kinematics solution of the 3-RSS/S parallel robot is solved by combining with the constraint equation of the strut length of the branch chain.Finally,the inverse kinematics expression between the input and output is obtained.On this basis,Lagrange method is adopted to solve the kinetic energy of each component of the parallel robot,the dynamic model of the parallel robot is established and the analytical expression of the dynamics is obtained.(4)The kinematics and dynamics of 3-RSS/S parallel robot were simulated.A co-simulation analysis method based on ADAMS/MATLAB is proposed.Applying ADAMS virtual prototype kinematics model is established,with the theoretical derivation of 3-RSS/S parallel robot inverse kinematics model in the MATLAB,this paper compares and analyzes to verify the correctness of the established kinematic model,combining ADAMS and MATLAB/SIMULINK generates dynamics simulation model,the dynamics co-simulation,the feasibility of co-simulation method is validated.Finally,the feasibility and effectiveness of the method to analyze the kinematics and dynamics of parallel robots are verified by debugging the machine on the engineering prototype. |
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