Kinematic Analysis And Design Parameter Optimization Of 3-RRPS Parallel Mechanism

In this paper,a 3-RRPS symmetric parallel mechanism is proposed by changing the position of the characteristic points and axes of the motion pair,which realizes the design and expansion of the new configuration of Stewart robot.On this basis,a series of theoretical analyses of the parallel robot are carried out,mainly including: kinematics,workspace,statics,parameter optimization,etc.The main research contents of this paper are as follows:1.Expounded the research background and significance,analyzed and summarized the research status of parallel robot at home and abroad.2.The 3-RRPS parallel mechanism is modeled,and the degree of freedom of the mechanism is analyzed using the traditional degree of freedom calculation formula.Then,the vector chain method combined with homogeneous coordinate transformation is used to establish the mathematical model of kinematics,and the positive and negative solutions of its kinematics degree are analyzed.According to the inverse kinematics solutions,the workspace is solved by using the search method.3.Establish the overall static coordinate system of the mechanism,analyze the static balance of the mechanism by using the split bar method,obtain the static balance equation on each bar,and then analyze its force situation.4.Based on ADAMS virtual prototype technology,parametric modeling is carried out,and the mapping curve between design variables and objective function is obtained.Through the establishment of multi-objective function,the optimization is carried out with the goal of kinematic performance,dynamic performance and lightweight design,and the optimal design of 3-RRPS parallel mechanism is realized.