The Solution Research On Some Of The Key Problems Of Parallel Robot Design

Parallel robot is now being used more and more widely for its high strength, stable structure, high load ability, high running accuracy and small inertia. Experts have made much research on it. But for the unique structure of parallel robot mechanism, good solutions are still not available for some of the design problems, which obviously impede the development of parallel robot.VP is the abbreviation for Virtual Prototype. It is a new method of product development. This paper combines virtual prototyping technology with the design of parallel robot to study and solve some key problems of parallel robot design, included solutions of working space and the direct and inverse problems of parallel robot.Computer simulation method has taken more and more important parts in modern mechanical design. During the course of traditional mechanical simulation design, the part of mechanic and control design are always separated. There is no communication between them until it comes to the time of physical prototype testing. If there is any problem emerges while testing, the designers have to come to the early period of design to modify the design and do testing. Latent problems are discovered late.Co-simulation method provided a common model for mechanical design and control design. The two parts could share one model during design and could communicate with each other. Problems are found early during the course, which could improve design proficiency, reduce design risk, shorten develop cost. Using the method of co-simulation, this paper established the control model of parallel robot in SIMULINK and mechanical model in ADAMS and realized the co-simulation of 3-RPS parallel robot through ADAMS/Control. Then, control method was validated and results were analyzed.At the end of this paper, co-simulation method was introduced to the area of parallel robot accuracy analysis, and come up with ways to improve the running accuracy of parallel robot.