Research On Theory And Application For The Two-slider Parallel Mechanisms

Taking two kinds of parallel planar mechanisms with two-slider as the research subject, the structural characteristics, kinematics, motion error, workspace, singularity, dynamics, stiffness characteristics for these two kinds of mechanisms was analyzed and resrarched in this paper. Also, application problems were researched for them. Firstly, the composition of the two mechanisms and the structural characteristics of them were analyzed, the features such as simple structure, large workspace were obtained. It laid a good foundation for the two robot prototype manufacturing. Secondly, vector analysis method was applied to establish the direct and inverse kinematics models of the two parallel planar mechanisms, two complete input-output relationships were determined. Matlab software and cosmosmotion module of solidworks were used to check the correctness of input-output relationships. Displacement, velocity, acceleration law of the sliders and angle, angular velocity, angular acceleration law of the connecting rods were obtained when the end actuator moving along the elliptical trajectory. It provides theoretical basis for the control of the robot. Then, error model of the two mechanisms were established, the error of end actuator was analyzed from the length of linkage rod and kinematics pair gap error, and verified by example. Then, workspace of the two mechanisms were analyzed by using mapping and analytical method, analytic of workspace of the mechanisms were obtained, and by solving the jacobian matrix, three type singularities of the mechanisms were analyzed, it offers reference for trajectory planning of the mechanisms. Again, dynamic models of the two mechanisms were established by using Lagrange method. The analytics of driving force of the sliders were obtained, and the change law of driving force of the sliders were obtained by using matlab software when the end actuator moving along the elliptical trajectory. Finally, create three-dimensional model of the two mechanisms by using solidworks software. Stiffness characteristics of the two mechanisms were analyzed based on ansys software. Experimental prototype was developed, and its industrial applications were studied.