| Because of the characteristics of high rigidity,strong capacity,little error,high precision and easily control,parallel robot had been widely applied.At the same time,it's application was limited by it's relatively small workspace and slowly speed.With deeply researchment,some parallel robot which has big workspace and fast speed were deeply favoured.Considered these,a parallel robot—6-PSS parallel robot which has big workspace and fast speed was choosed as researchful object.And the kinematics,workspace,dynamics and kinematics and dynamics simulation based on Adams of parallel robot are discussed and studied deeply. This type of parallel robot is applied mainly in NC working and medical attendance fields.First,a 6-PSS parallel robot which has big workspace and fast speed was simply introduced,then based on the structure of 6-PSS parallel robot,the kinematics equation with analytical form has been established,and the inverse position solution of the parallel robot has been gotten.And the direct positon solution has been gotten by quasi-Newton iteration method.Second,based on the inverse position solution and considered several factors which effect workspace,with limited boundary search method,the position workspace and pose workspace of robot have been gotten by Matlab software,and the visual analysis of workspace has been done by Matlab.Third, the parallel robot's Jacobian matrix is obtained by taking the time derivative of the inverse kinematic equation,and based on the simplified model of robot,the inverse dynamics of the robot is developed by using the second Lagrangian method and the dynamics model is simulated by Matlab. At last,the paper has established a dynamic virtual prototype model of the robot,and made simulation on the inverse kinematics and dynamics.Via the simulation,the reliability and precision of the kinematics and dynamics model of robot would be validated... |
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