| Based on the Delta parallel robot and home and broad parallel robot research, the thesis proposes a translational orthogonal type of 3-DOF parallel robot processes performance analysis on it. This robot is easily assembled and its initial position is conveniently detected.The structure feature of this parallel robot is presented, and the reverse position is discussed. According to the reverse position equation and the structure constraints, its workspace is investigated, the shape of workspace outlines and three-dimensional entity are also acquired. The thesis processes comparative analysis to the workspace with Delta parallel robot.The velocity Jacobian matrix of this parallel robot is established, two kinds of performance evaluation criterions are defined and the distribution of these criterions in workspace is presented. The thesis also processes compara- tive analysis to the performance evaluation criterions of two parallel robots according to the velocity Jacobian matrix of Delta parallel robot.According to principle of linear superposition, the geometric error model of this parallel robot is obtained. Three kinds of error evaluation criterions are defined, the distribution of these criterions in workspace is presented and the errors distribute on terminal platform are discussed by using Monte-Carlo method.By using Lagrange's equation, the dynamic model of this parallel robot is present.The three-dimension entity model of this parallel robot is designed by Solidworks, and the model is imported into ADAMS, then the simulation of the model is discussed. |
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