Kinematic Analysis And Simulation Of 3-3UPS1S Parallel Robot

Parallel robot, which has the traits of simple configuration, low cost, strong carrying capacity, high precision, being easily controlled and so on, is an important part of domestic and overseas high technology and new technology research. Recently, parallel robot with few degrees of freedom has already become a new research hotspot and has wide application foreground on the industry manufacture and other aspects. Kinematic analysis of parallel robot plays an important part in the parallel robot research and includes forward and inverse kinematics.The forward kinematics of parallel robot has many solutions and is usually complicated. However, its inverse kinematic solution is unique and relatively simple. Simplification and precision of forward kinematic solution of parallel robot are very important aspects that are widely be concerned home and abroad. Another very important aspect of parallel robots research is the visualization of the kinematic simulation. It involves mechanism and kinematics of parallel robot, part modeling, realization the three dimensions simulation and movement control. Therefore, it is an all-around study which requires innovative and practical measures.Regarding the kinematics and simulation of parallel robot with few degrees of freedom, this thesis discusses the following four aspects:1. A 3-3UPS1S parallel robotics with three spacial rotational degrees of freedom is put forward, which has the traits of simple drives and convenient control, it can be used as wrist and shoulder joint, also parallel machine tool.2. A forward kinematic solution which is based on the inverse kinematics has been proposed. The mathematical models of forward and inverse kinematics are set up through vector calculation. Newton iterative method whose initial values are the given angles is employed to solve the angle of the forward kinematics. Velocity and acceleration solution of the forward kinematics are solved by using the given angles. The angles, velocities and accelerations of forward kinematics solution are compared with the given parameters of the moving platform respectively. The example of simulation shows that the results of forward kinematic solution are satisfactory requirements by using the introduced method. So simplification and precision of forward kinematic solution of parallel robot can be realized.3. The software Pro/E can be used to build a virtual prototype of the parallel robot. Using the interface program Mechpro 2005, the model data can be transferred into the software ADAMS. The kinematic simulation of the virtual prototype of the parallel robot, which is conformed to physical prototype of it, can be visualized. At the same time, a great deal of mathematical operation and program of computer language can be avoided in the course of kinematic simulation.4. Comparing with two different results of the kinematic simulations which are based on the software MATLAB and ADAMS, it's easy to validate, on the other hand, the models and program of computer language, on the other hand, modeling which is based on the software Pro/E and ADAMS and simulation correctly.