Analyse And Simulation Of The Parallel Manipulator Workspace

Parallel manipulator workspace is the work area of the parallel manipulator, it is an important index to evaluate characteristics of parallel manipulator and abilities of parallel manipulator. To analyses workspace of parallel manipulator is an important basic for the design. The size of the workspace decides activities of parallel manipulator. As a result, at a limit range of the extension of driving limbs, designer always strives for getting a large workspace.Based on the analyses of the current situation of the lower-mobility parallel manipulators workspace, this dissertation focuses on the workspace of parallel manipulators by using computer aided geometry approach., including computer aided geometry approach by using the position simulation mechanisms, computer simulation by using the SimMechanics toolbox, simulation by using the Cosmosmotion. this dissertation3-, 4-, 5-DOF parallel mechanisms.(1)By using the geometric constraint, the dimension constraint, the dimension equation and the dimension driving techniques of CAD, the position simulation mechanisms of parallel manipulators are created, analyses the workspace of parallel manipulator, and find out all workspace of parallel manipulator by changing driver parameters.(2)Basic on the SimMechanics toolsbox, parallel manipulators frames are constituted, then simulate the parallel manipulator by input appropriate driver parameters, and find out all workspace of parallel manipulator.(3)Basic on the consideration of observing more easy, the third approach can observe all the path of the parallel manipulator direct, and consider interference of parallel manipulator each other. By contrasting the three approaches, we know that they are consistent absolutelyThe research work of this dissertation establishes theoretical basis for the further research of workspace of parallel machine tools practically.