CAD Approach For Type Synthesis And Analysis Of Novel 4-DOF Parallel Manipulators

Type synthesis and analysis of spatial imperfect-DOF parallel manipulators are an advanced topic and quite complicate in the field of robotics. In this dissertation, a novel computer aided geometry approach for type synthesis and analysis of new spatial 4-DOF parallel manipulators is put forward, and kinematics characteristics of the 2UPU/2SPS spatial parallel mechanisms are studied by using novel computer aided geometry approach and analytic approach. (1)By using the geometric constraints and dimension driving techniques in CAD software, a novel computer aided geometric approach is put forward for designing the computer simulation mechanisms of parallel manipulators. When the driving dimensions of driving limbs are modified, the configurations of the simulation mechanisms are varied correspondingly, and the kinematic parameters of the moving platform are solved. (2)Based on the computer simulation mechanisms of parallel manipulators, several new spatial 4-DOF parallel manipulators are synthesized. The kinematic characteristics of the moving platforms are analyzed by computer simulation, and these moving platforms can implement 3-D translation and 1-D rotation, or 2-D translation and 2-D rotation. (3)The position and workspace of the 2UPU/2SPS spatial parallel mechanisms are solved by using computer aided geometric approach, and the velocity, acceleration of them are solved by using the curve fitting method. (4)The solutions of forward and inverse position, velocity, and acceleration are given. The computer aided geometric approach is proved feasible in theory by the result comparion with the mathematical analytical results. The results of computer simulation prove that the computer aided geometric approach for solving type synthesis and kinematic analysis is not only fairly quick and straightforward, but also has the advantages of accuracy and repeatability. It also can conducted kinematic analysis of spatial parallel mechanisms without complicated analytics and program. The research work of the thesis also establishes theoretical basis for the futher research and development of the 2UPU/2SPS spatial parallel mecanisms' practicality. It is of great leading significant with the innovation of new mechanisms.