The Research Of Parallel-Mechanisms Based On Couple Hardness With Softness

Parallel mechanisms have been used more and more extensive because of the characteristic of high rigidity, strong capacity and compact structure. Parallel Wire-driven Manipulator (PWM) which developed recently from 80s, has been receiving increasing attention of members from academia, due to its portability and large workspace. From the performance of traditional parallel mechanism and make full use of the characteristics of PWM , one new type of parallel mechanism on the base of rigid-flexible combination is bring up, configuration, kinematics, dynamics, vibration and simulation problems are studied in-depth.First of all, based on the design of its combination,the research of precision,plane's forward kinematics,inverse kinematics and Jacques matrix of velocity are present .The dynamic equation is obtained by use the law of Newton– Euler.To combine the result of theory analysis, two virtual models are built by use of ADAMS, then the kinematics and dynamics simulation was studied. The result that performance of dynamics has been upgrade is approved by comparison of the curves. The models that vibration analysis needs are constructed out. Analysis of vibration is finished by use the ADAMS/Vibration, frequency response curves are output, and the agency's dynamic characteristics have improved by impose a soft demand.The above study proves that the parallel mechanisms based on combination of rigid-flexible improved accuracy of the agency while maintaining the original characteristics of the institution, and suppressed the vibration question effectively, settled good foundation for application of the organization.