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Several Kinds of SPR and RPS Brance 3 Degree-Of-Freedom Parallel Manipulators Characteristic Research

Author: LiuGuangChao
Tutor: LuZuo
School: Yanshan University
Course: Mechanical and Electronic Engineering
Keywords: Parallel Robot Analytical method Computer Aided Geometric Act Position analysis Velocity analysis Acceleration analysis Workspace Static Analysis
CLC: TP242
Type: Master's thesis
Year: 2008
Downloads: 191
Quote: 0
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Abstract


With the parallel development of robot technology , less DOF parallel robot has a relatively simple structure , easy to control , and low cost , by the attention of scholars , and become a new research focus in the field of robotics , and in the field of industrial production has broad application prospects. On the basis of analysis of domestic and international small DOF parallel robot research and application development , computer-aided geometric method and analytic method Three 3 degrees of freedom the SPR and RPS branch of institutional characteristics of the three - DOF parallel mechanism . ( 1 ) based on the geometric constraints of the CAD software size constraints , size equation and dimension-driven construct SPR and RPS branch 3DOF parallel mechanism ; (2 ) Analytic 2SPR RPS Ⅰ , 2SPR the RPS Ⅱ type 2SPR RPS III type three parallel mechanism position , speed and acceleration analysis , and based on the principle of virtual work parallel institutions 2SPR RPS Ⅰ static analysis ; (3) computer-aided geometric method to construct the location of the three parallel mechanism simulation mechanism and solving the inverse solution space parallel mechanism position ; make the institutions at the same time in the same sketch of these three positions at different moments of the three - position analog CAD software size constraints successive approximation constructed institutions speed - acceleration analog institutions , for solving speed parallel mechanism inverse solution and acceleration inverse solution ; extreme according to the various branches of the simulation mechanism corresponding boundary contour curves and construct a parallel mechanism workspace by lofting command ; and contrast inverse solution obtained by the analytical method position , speed inverse solution acceleration inverse solution verified ; ( 4 ) of the three institutions work space , speed , acceleration of comparison , summarizes the advantages and disadvantages of the characteristics of their institutions , and sports vice layout changes to analyze the impact of institutional characteristics . The thesis work laid the theoretical foundation for further study of the less DOF parallel mechanism practicality .

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