Virtual Prototype Design And Performance Analysis Of A Novel Three Rotational Parallel Mechanism

To meet the demand for the spatial rotational mechanism used in the field of aircraft industry and robot, this thesis investigates into the design theory and method of a novel three rotational parallel robot which is invented by Tianjin University. The research includes:1. Kinematic analysis. Based on the screw theory, the number and type of the degree of freedom of this novel mechanism are derived. Then the kinematic model is founded with the help of closed vector; and the singularity is analyzed.2. Virtual prototype design and workspace analysis. The virtual prototype is set up according to demands of engineering. Based on this model, the motion simulation and interference checking are carried out. And the reachable workspace is definitude and searched with the constrained conditions. Then effects of dimensional parameters to workspace are derived.3. The static/dynamic characteristics estimation. The finite element model of the rotational robot is proposed by using the ANSYS software. Key parts which affect the static and dynamic characters of the mechanism are identified from estimating static stiffness and modes.The outcomes mentioned above give a solid foundation for developing the 3-PSS/S prototype.