The Kinematic Analysis Of A Kand Of 4-RPTR Parallel Mechanism With Three Dimansional Revolution And One Translation

With the development of parallel robot research, spatial imperfect-DOF parallel robots have received much attention for the advantages of their simple mechanism, low cost in designing, manufacturing, and controlling. But the research development of imperfect-DOF parallel mechanism is very unbalanced, the research of two, three-DOF parallel mechanism have basically been finished, however the research of four, five-parallel mechanism just begin, which limit the development and application of this kind of parallel mechanism to some extent.The subject of this paper is 4-RPTR four-DOF parallel mechanism, analyzing the kinematics of the mechanism, which have four DOF of three dimensional revolutions and translation along Z spindle.First of all, this paper analyze the DOF and the input rationalities of the mechanism, according to geometrical quality of the mechanism, setting up the restrict equation, solving the position of the mechanism with continuation approach, and numerical verification is carried out.Second, establishing the Jacobian matrix of 4-RPTR parallel mechanism though the method called imaginary mechanism, then establish the velocity equation, And draw the input velocity change curve under the condition of uniform motion of the motion platform.Third, drawing the shape of the reachable workspace with the help of computer after giving the fixed design parameter. According to the Jacobian matrix of mechanism, the singularity of the mechanism was analyzed.Finally, the kinematics of the parallel mechanism is simulated by SolidWorks.