Studies And Application Of Workspace And Trajectory Planning For 3-PCR Parallel Mechanism

With the advantages of simple structure, easy control, low cost, high precision and rapid dynamic response, parallel robot's effect in industry is increasingly becoming unmeasurable and widely concerned by people. However, due to the specific multiple closed-loop structure of the parallel robot, it is rather difficult to analyze the workspace and the trajectory planning of the parallel mechanisms. While the workspace and the trajectory planning is indispensable for designing the robot, research for them will be of great significance. In this paper, we take 3-PCR parallel robot mechanism as research object, and the workspace and the trajectory planning were analyzed thoroughly. The content of this paper mainly covers five aspects which are as follows:Firstly, based on the workspace definition of parallel robot mechanisms, the characteristics, the influence factors and the analyzing methods were discussed. Take 3-PCR parallel robot mechanisms as an example, the influence played on the workspace from the length of the pole, the revolute angle and the pole interference were analyzed. Then the mechanisms' volume was gotten by using the polar coordinates method.Secondly, on the basis of mathematics model and MATLAB software platform, the simulation program of the workspace was developed through the combination method of parametric design and interactive design. And then the simulations figures under different conditions were gotten.Thirdly, the current research status of parallel robot's singularity were classified in detail. Furthermore, based on the Jacobin-matrix method, the singularity conditions and the singularity variety of parallel robot mechanisms were discussed.Fourthly, Trajectory planning of 3-PCR parallel mechanism was studied based on curves parameterization theory and inverse kinematics theory. And the rules of motion applied to the driving sliders in order to make 3-PCR parallel mechanism move according to the expected path were determined.Finally, the application of 3-PCR parallel mechanism in laser carving machine was explored meaningfullyThrough above analysis and studies, we have had a clear and deeply knowledge about the workspace and trajectory planning of 3-PCR parallel mechanism, and the solving ways of workspace and trajectory planning have been put forward and consummated. All of this have made a good foundation for the manufacturing and controlling of 3-PCR parallel robot prototype and make a preparation for the manufacturing of the laser carving machine.