Design And Research Of The Parallel Mechenism Named 3-RRRS

As increasing demand of high accuracy, high speed and agility, and other high-performance processing requirements for parallel machine tools and the development of robot technology, over the years, PMT and parallel robot has increasingly become the academic and engineering applications in Focus, therefore the design and studies on parallel mechanism have also become the world's hot spots, and there constantly emerged in the various degrees of freedom, different types of parallel mechanisms.This article has improved the design for the existed parallel mechanism named by 3-RRRS,and has completed a more comprehensive study on many aspects by virtual prototyping techniques,such as design of the structure, posture analysis, the workspace analysis, kinematics analysis , Dynamic analysis ,parametic design and analysis and Optimal Design,and so on.The paper has improved the design of structure,and established forward and inversed equation on the base of parallel mechanism,and verified correctness of forward and inversed kinematic by numerical examples,and induced the Jacobii Matrix reflecting the flexibility of mechanism.Then the paper has completed the workspace of visual analysis by MATLAB and MATHEMATIC,and made a depth-analysis to know what factors affecting the workspace are major factors.Secondly,the paper has established a dynamic simulation model ,and made simulations on the forward and inversed kinematic to reveal the movement of such space movement and its ability. Then making a dynamic analysis to known the changed law of force on the bodies and to provide important reference following studies.Finally, the article has made a parametic design and its analysis to optimize the mechanism.All of aboved will provide pratical application of reference for the project and academic research.