Analysis And Optimization Design Of Active And Passive Branch Hybrid Input Mechanism 3RPS-SPS

In this paper,for the 3RPS-SPS parallel mechanism with active and passive mixed input,the RPS branches and SPS branch layout were optimized in order to optimize the force and stiffness performance of the mechanism.The branch layout of the mechanism is optimized and the single drive three degrees of freedom output attitude adjusting mechanism with superior performance is obtained.The research content of this paper mainly includes the following aspects:Firstly,the principle and inverse solution of 3RPS-SPS mechanism were analyzed,and the workspace of 3RPS-SPS mechanism with 3RPS and redundant branches was calculated and compared.The position,velocity and acceleration of 3RPS-SPS were calculated by the corresponding parallel mechanism analysis theory,and the correctness of the calculated results was verified by ADAMS simulation.The statics,static rigidity and dynamics of 3RPS-SPS mechanism under the following state were analyzed and calculated.Secondly,the layout of each branch chain of 3RPS-SPS mechanism was optimized.In order to minimize the force on the branches,the branch positions of RPS and SPS were optimized.The geometric relationship of the optimized mechanism was analyzed and the force of each branch in the working space before and after optimization was compared.The position,velocity,acceleration and statics of the optimized mechanism are analyzed.Finally,on this basis,the prototype structure and electric drive control system design,respectively design the active and passive branch structure and its driving device,and the overall structure of the finite element check analysis.The influence of structure size on the control algorithm is analyzed and the control sequence of each passive branch is optimized.Raspberry PI QT was used to build the control interface,and the branch displacement was measured in real time by the sensor.The automatic control algorithm was written combined with the kinematics model of the mechanism.Experimental research was carried out based on the prototype.Through the above analysis,it can be concluded that after optimizing the position of each branch chain of the active and passive hybrid input parallel mechanism 3RPS-SPS,the force on each branch is significantly reduced.