Research On Modular Method Of Kinematic Analysis For Parallel Manipulator Based On The Ordered SOCs

Generalized the ordered SOCs (single opened chains) approache to kinematic analysis for parallel manipulators, a modular method has been presented in this paper, which has many advantages: such as higher computing efficiency, closely associated with the structure and dynamics analysis, kinematic equations can be easily generated and solved an so on.The main contents of this paper are arranged as follows. Firstly, the reasons which cause complexity of kinematic analysis have been found, and features of the methods generally applied by now have been shown. In the next place, kinematic analysis models of SOC components widely used in parallel manipulators have been set up, and the models can be readily applied to kinematic analysis of parallel manipulators as subprograms. Thirdly, the representative SOC components i.e. 5R and 6R SOCs have been furthly studied, and some progresses have been made. The contributions are shown as follows: 1) A new method for inverse kinematic analysis of general 5R serial robot is proposed, but the traditional method can only obtain the unique solution. All the inverse kinematic solutions of 5R serial robot with random structural dimensions can be obtained; 2) The number of inverse solutions to 5R serial robot can be easily determined; 3) a simple effective method for inverse kinematics problem of general 6R serial robot or forward kinematics problem of general 7R single-loop mechanism is presented based on one-dimension searching algorithm. Forthly, fundamental principle and detail steps of the above modular mehod have been introduced in detailed, aimed at the 4-DOF parallel manipulator which coupled degree k is only one. In addition, some skills have been shown when applying the new modular method to kinematic analysis for parallel manipulator, which is of advantage to improve computing efficiency. At last, kinematic analysis method for complexed manipulators which coupled degree k are more than one has been researched, and the following contribution has been obtained: a new searching algorithm has been presented, and the approach which can evidently improve computing efficiency has been proposed in this paper. Therefore, the problem of kinematic analysis for complex parallel manipulators has been solved.The researches in the paper are the complement for kinmatics of complex mechanisms (especiallyparallel manipulator), and it makes the parallel manipulator science and technology studied deeply on mechanical theory and kinematics. Therefore, the research content in the paper has important significance to improve efficiency of kinematic analysis, implement real time control and promote parallel manipulator science and technology.