Imperfect DOF Parallel Robot Motion Analysing And Simulation

The planar parallel robots structure are simpler than the three-dimensional space parallel robots structure,have few motion parameters and are easy to move in three-dimension space,and their mathematical models are easy to be found.Therefore,two planar imperfect DOF parallel robots whose movement joints are only gemels are choosed as researching subject to be analysed in theory and simulated in motion.The advantages and disadvantages between the serial robots and parallel robots are compared;accordingly,the parallel robots application situation is brougut forward in this paper.This paper explained the concepts of the parallel robots mechanism and analysed the method to find positive solution and reverse solution of the parallel mechanism kinematics .At first,the measure units of the parallel robots mechanism is not considered,then the relation in pole's length of the two planar imperfect DOF parallel robots mechanism is discussed in detail .The paper showed briefly the application of the flexible gemels in parallel robots is replaced by that of common gemels.The formulas of the planar three-of-freedom 3RRR parallel robots mechanism position positive solution and position reverse solution are deduced in analytical geometry.Fictitious influence coefficient method ,analytical geometry method and derivative method are applied in analyzing the velocity and acceleration of the motion platform position output point to the parallel robots mechanism at the same time .With the help of the advanced computer technology,We designed brief GUI graphic operation interface in visual objective MATLAB computer programme language.On the one hand ,this paper had given simulation example of the researched two parallel robots;on the other hand,the researched parallel mechanisms were checked in numerical value in this paper.This paper's working had found some theorical base to research deeply and create parallel robots mechanism in the assistance of computer and had given some support to the application of the planar imperfect DOF parallel robots in theory.