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Kinematics Analysis and Application of the Symmetric 3-PCR Parallel Mechanism

Author: SunLei
Tutor: HaoXiuQing
School: Shandong University of Technology
Course: Mechanical Design and Theory
Keywords: Parallel mechanism Screw theory Type synthesis Curve parameterized Trajectory planning Virtual Prototyping
CLC: TH112
Type: Master's thesis
Year: 2008
Downloads: 122
Quote: 4
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Abstract


The less DOF parallel mechanism compared with the traditional six - degree-of-freedom parallel mechanism has the advantages of simple structure, easy to control , low cost , has a good application prospects , in particular the same branch , symmetrical structure with isotropic symmetry three - dimensional flat the parallel Mechanism offer considerable potential for extensive attention by scholars at home and abroad . In this paper, the spiral theory of three-dimensional Parallel Mechanism comprehensive system , based on selected sample of symmetric 3 - PCR parallel mechanism for the study conducted in-depth research , the study includes the following five aspects : first, according to the reciprocal spiral and spiral movement of the screw theory constraint to determine the three-dimensional parallel Mechanism branch constraint screw system type , on this basis , the use of constraint screw type synthesis theory of three-dimensional parallel Mechanism . Secondly, based on the initial design goals , selected from a comprehensive three-dimensional Parallel Mechanism the typical symmetric 3 - PCR parallel mechanism kinematic analysis . Third, the use of Unigraphics and ADAMS software to construct three - dimensional virtual prototype of the 3 - PCR parallel institutions , and the use of simulation software ADAMS various types of curves on a prototype simulation . Fourth, based on the the curve parameterized theory and kinematics reverse analysis theory, the 3 - PCR parallel mechanism trajectory planning study , based on two different types of trajectory curve corresponding trajectory planning method to determine the 3 - PCR parallel law of motion of the body in accordance with the desired trajectory should be imposed on the drive member . Finally, the 3 - PCR parallel mechanism on the high-pressure water jet cutting machine to do meaningful exploration , and a combination of two cutting examples demonstrate the feasibility of the application . Through the above analysis and research , an insight into the performance 3 - PCR parallel to the structure and kinematic properties , and further improve the trajectory planning method based on the kinematics inverse analysis theory , as well as the physical prototype of the 3 - PCR parallel mechanism trial and control strategy has laid a solid foundation for its substantive developed as a high pressure water jet cutting machine to do the preparatory work .

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CLC: > Industrial Technology > Machinery and Instrument Industry > Mechanics (mechanical design of the basic theory ) > Of mechanism
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