The Reliability Analysis Of Parallel Robot Kinematics

With the development of science and technology, people attach importance to the reliability of products in recent years. Motion reliability is a key to evaluate the quality of lots of systems. In the previous study, designers pay much attention to reliability of strength and longevity while ignore the study of mechanism action reliability.So problem of motion reliability becomes more and more important, and the study on it has the guidance function for improving the reliability level of our country.Virtual Prototype Technology, which is an important element of parallel technology, sets up a three-dimensional visible model of system with computer aided software, runs a series of simulations for getting analyzable results in graphics mode to show every characteristics of system under true working condition. With the Virtual Prototype Technology, we can shorten researching cycle, reduce procreative cost, and improve quality of products.In this paper, the author analyzes the application and development of reliability and Virtual Prototype Technology at first, and then reviews the foreign and domestic research status as the background of research task. A virtual systematic model of 4-UPU parallel robot is built. The following parts are mainly completed by the author:Build math model and set up three-dimensional model of the 4-UPU parallel robot; build and assemble every accessories of the parallel robot with Pro/E; analyze structure and calculate freedom of the parallel robot.Run the kinematical simulations, solve the forward and reverse position kinematical equations with function units such as point motion, spline function and measure offered by ADAMS. During the process of kinematical simulation, a visible animation of the parallel robot is generated and an avi-movie is produced for analyzing. With the redevelopment of ADAMS, a parametric model is built and a User-Written dialog box was offered, the parametric model can auto change structural dimensions when different reasonable data are entered into User-Written dialog box.A control-box is generated under Visual C++ 6.0 environment, in which you can...