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Kinematics Study of a Novel 3-Dof Translational Parallel Robot Mechanism

Author: ZhouYan
Tutor: LiuHongZhao；YuanDaNing
School: Xi'an University of Technology
Course: Mechanical and Electronic Engineering
Keywords: Parallel robot mechanism Kinematics analysis Simulation Parametric design Finite element analysis
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 49
Quote: 0
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Abstract


Few degree of freedom parallel mechanism with some advantages, such as simple structure, low inertial, low cost of manufacture and so on. It was received abroad attention by a good many international research field. In the few degree of freedom parallel mechanism, three-dimensional translations parallel mechanism has a wide application prospect, because of good symmetric and relatively easy control. The kinematics of strong coupling, track planning and control etc aspects were difficult for general parallel mechanism. So researched no-coupling and complete isotropy parallel mechanism have already become novel subject in that field, and has important research meaning and application value.A novel no-coupling and complete isotropy parallel robot mechanism that can perform three-dimensional translations was analyzed in the paper. This article has mainly done the following several aspect research:The units of single-opened-chain climb and screw theory were used respectively to analyze the structural characteristics of the novel parallel robot mechanism. Firstly, the calculation on its degree of freedom and the actuated joints choice of the mechanism were discussed. The motion output analysis was investigated according to the structural theory of parallel mechanism based on the units of single-opened-chain climb. Then the analytical solutions of position and velocity were addressed for both the forward and the inverse kinematics with different inputs. The selected and decided active joints were discussed, Then it is proved that the lazy joints existing in the mechanism. Finally, the dexterity and its numerical solutions of this parallel robot mechanism were discussed. The reducibility and workspace were analyzed. Through comparing, it is found that the parallel mechanism has better comprehensive properties with translation input. The kinematics simulation of this mechanism was performed by ADAMS. The actual examples simulation with different active joints were executed in ADAMS. As a result, the correctness of theoretic analysis was proved, which provided a theoretical basis for practical application of this parallel mechanism.Study and realization of Man-Machine Interface with parametric software that was writed with VB. Making use of the Ansys and taking the Visual Basic as developable tool,draw up a set of practical,dependable,simple applied procedure.With using this Procedure, this parallel mechanism can be realized finite element auto analysis by inputting a little amount basic parameter.Finaly, Application finite element analysis software ANSYS analysised this parallel mechanism. The stress nephogram and deformation curve of robot mechanism with two position and pose were obtained from ANSYS calculation and analysis, and then did the detailed analysis for calculation results.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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