| The Delta-S robot is a high-speed and light-weight parallel manipulator, which can take the pick-and-place motion with the help of the vision system. This manipulator has a great prospect in the electronic, light industrial, food and pharmaceutical fields. The project is sponsored by The National Natural Science Fund and Doctoral Education Fund of the ministry of education. In this dissertation, the kinematics, dynamics and kineto-elatodynamics of the manipulator have been taken in-depth theoretical research.With the aid of vector method, the inverse kinematic model has been formulated. And the inverse dynamic model of this manipulator has been formulated by means of virtual work principle. In accordance with the typical operating procedure, the position, speed, acceleration and the driving torque of the driving joints have been calculated with the help of trajectory planning. The work lays a foundation for the kineto- elatodynamics anslysis in succession.The kineto-elastodynamics model of the spatial high-speed parallel manipulator has been developed by the method of the substructure synthesis and the finite element method. The natural characteristics of the mechanism which include the nature frequences and mode have been computed by the method of solving characterstic root and eigenvector of the KED equation. Moreover, the distribution rule of the nature frequence in the typical position has been analyzed.The dynamic response of Delta-S has been solved with the method of Wilson ?θ. The merits and faults of Delta-S compared to the response curve have been discussed based on the analysis of the dynamic characteristics according to the dynamic response in the typical path.The work accomplished in this dissertation not only provides substantial foundation to the dynamic design of Delta-S robot, but also can be used to the kineto-elastodynamics analyses and dynamic design of the analogous spatial parallel manipulators which have rigid-elastic coupling chains. |
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