The Simulation Of A Novel Parallel Robot With Six Degrees Of Freedom

The parallel robot has become a hot spot for a long time because of its simple structure, high stiffness, high precision, and low movement inertia. Its application is increasingly broader. The entire and systemic research on the parallel robot is of great importance both on theory and application. Since parallel machine tool was invented in1990s, parallel Mechanism has become a very pop research field and a focus of mechanism subject. Parallel mechanism moves in three-dimensional space .Because not only its kinematics calculation is very complicated but also the workspace is difficult to image, the proper model must be set up and simulated in order to realize the visualization of the movement of parallel mechanism. It makes the periods long. So It is necessary to develop a platform for kinematics simulation. This paper researches on a novel plane five-bar mechanism parallel robot with six degrees freedom. The kinematics is researched firstly, based on this, builds up a simulation platform.The analysis of the forward kinematics is the foundation of other performances' study on the parallel robot. This paper adopts the genetic algorithm to get the forward kinematics results and carries out the grouping of these results based on the theory of gray relative analysis.In this paper, based on kinematics gets the controlling equations of electrical machinery. And uses forward kinematics to get controlling equations of platform. Then , using solidworks to build up a simulation platform. Based on the accuracy synthesis and the independent and equal effect principle of error, the manufacturing tolerances of bars and clearance error caused by the joints are concerned, fuzzy genetic algorithm is applied to the accuracy synthesis of a novel 6-DOF parallel robot.