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The Structure Design and Theory Analysis of a 6-PUS/UPS Parallel Manipulator

Author: JiangJunXiang
Tutor: ZhaoYongSheng
School: Yanshan University
Course: Mechanical and Electronic Engineering
Keywords: Parallel Robot Kinematics Structural design Workspace Error
CLC: TP242
Type: Master's thesis
Year: 2010
Downloads: 192
Quote: 3
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Abstract


Hebei strong multidisciplinary project mechatronics multifunction measurement and control test platform parallel mechanism , numerical control systems , servo devices , detection devices , mechatronic component - based development . It to CNC machining , CMM , visual measurement , force control research , redundant control research to provide an efficient and reliable platform . Therefore , their conduct research has important theoretical and practical significance . Mechanical body parallel structure for mechatronics multifunction measurement and control test platform structural design and theoretical analysis . Introduced this novel parallel robot 6-PUS/UPS of the composition and characteristics of the institution kinematic analysis , the establishment of a parallel mechanism , the inverse position formula and the speed and force Jacobian matrix . Structure parameters , based on the parallel robot performance indicators finalized prototype visualization of three-dimensional design and analysis software , detailed design , analysis and optimization of the parallel robot , and use as the basis for processing to produce a prototype . Considering the factors that affect the working space , using MATLAB software , the use of numerical methods obtained 6-PUS/UPS parallel robot flexible workspace . Analysts singular position , draw no singularity within the workspace . Kinematic equations take the differential error model of the parallel robot . Monte Carlo simulation analysis of the the drive auxiliary input error and hinge gap on the terminal platform error , drawn relatively high accuracy in the working space within .

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