Analysis And Computer Simulation Of 3-RPS Pyramid Parallel Mechanism Kadang Movement

The paper studies position and pose inverse solving and positive solving and Kadang movement of 3-RPS pyramid parallel mechanism, which is a new type parallel mechanism. Layout locus of input pole length, and design configuration -. position and pose and emulate movement aided by computer. It mainly involves the following work:Analyze and compute the position and pose inverse solving of this mechanism, and discuss the possible character value of inverse solving. Set up the position and pose positive solving equation. Because of the difficulty of the positive solving equation, using Newton iterative method, one of the mathematical analysis methods, is an easy way to solve this equation. If precision is insured, the positive solving by this way has a practical use for robot locus layout and input control.Study the Kadang movement of this mechanism. Analyze the distributing rule of velocity and velocity instantaneous, and also study the relationship between comers and the relationship between corners and position when the mechanism turning. For possible interposition, develop the betterment mechanism to insure the mechanism turn form 0 degree to 360 degree without interposition, which extends movement extension and is helpful to realize special continuous movement. Layout input pole length's locus when the mechanism follows Kadang movement in two ways. One is multinomial curve locus and the other is linearity intermixed by parabola curve locus. We study the displacement > velocity and acceleration curve consulting time under variety velocity characters, and get the best curve and the best velocity character, which will have a very important significance for Kadang movement's input control of this mechanism.Finally, develop a mechanism emulating software based on above analysis and compute. Using this software to analyze and compute the study content, you can design the mechanism by characters. And the soft can show the position and pose based on inverse solving and positive solving, and producelayout data, and emulate all kinds of movements this mechanism can do.