| Hebei strong discipline project mechatronics with multi-function control experiment platform is mainly developed with parallel mechanism, CNC system, server device, detection device mechatronics parts etc. It will provide a highly efficient and reliable platform for CNC machining, tri-ordinate measuring, visual measurement, force control, redundant control research. Therefore, it has the important theoretical and practical significance for study.The paper makes a search about constructure design and theoretical analysis aiming at the main mechanical structure of parallel platform.The paper introduces the new parallel manipulator 6-PUS/UPS about composition and characteristics. The kinematics of the parallel mechanism and UPU branch are developed. The inverse position kinematics solution and the velocity equations of the mechanism are given.Based on parallel manipulator performance index the prototype structural parameters are determined. By using 3D visualized modeling and analyzing softwar the structure is analyzed and designed in detail. And on the base of this, the prototypes are made.Considering the effect factor to workspace, we get 6-PUS/UPS flexible workspace with MATLAB. The singularity of the parallel manipulator is discussed and there is non-singularity in workpace.The error model of the parallel mechanism is established using the differential kinematics. Using the monte carlo technique the influence input error and hinge clearance to terminal platforms error are analysised. In workpace accuracy is higher. |
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