Parallel Robot Driving Force Based On The CAD Variable Geometry Approach

With the development of parallel robot research, many researchers focus on the dynamics for the reason that the dynamics research about paralle robot is poor in Academia because of the difficulty to building the dynamics model, even the research about kinematics is very well, besides that it is important for controlling the parallel robots. Distinction in the analytical method, the dissertation trys to make researches on the driving force exploratory by using computer aided geometry approach.It introduces the basic theory of Computer aided geometry approach and the the building ways of the velocity/acceleration(v/a),Force/Torque(F/T) simulation mechanism, then raises the feasibility of using CAD variable geometry approach to solve the driving force.Based on the solution of velocity and acceleration about the simulation mechanism of 3-SPR and 2SPS+ 2SPR, the dissertation solutes the inertial force of all components due to the acceleration; translating the inertial forces onto the centre of the moving plat and composing them into a main force and a main torque by advanced CAD software; Solving the driving force of the driving limbs by the F/T simulation mechanism; Make curves of the driving force against the time.It is proved that the CAD variable geometry approach is applicable by comparing to the driving force results acquired by the simulation in COSMOmotion.