| This paper aims at researching the 3p6ss parallel manipulator. This manipulator was designed and manufactured by BUPT. It has been widely used for its high rigidity, high bearing capacity, high dynamic performance, and compact structure.Before starting to research, its inverse position solution has been deduced, and simulation software has been preliminary designed. In this foundation, this paper's main research is optimizing and expending this software's function by using visual C++. The trajectory can be interactive, selective and combined. The simulation manipulator can not only achieve the only a few of trajectories which has been planned, but also can achieve the trajectories in accordance with the demands of users. Here realized 3611 kinds of trajectories. According to this, may expend the trajectories type, and realize the combination. Here also calculated each kind of trajectory of the real manipulator's key point position, and its actuation motor rotation by using mathmatica software. Then deposit these data in the simulation system. So, after building the data transfer platform, the users using the simulation system (PC end) can long-distance control the real manipulator. |
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