Mechanism Synthesis And Characteristic Analysis Of Parallel Mobile Robot

In recent years,the mobile robot and parallel robot has been the popular research in robot research. The mobile robot is a system ensemble that collects many kinds of functions in a body, for example, environment sensation, the dynamic decision-making and plan, the behacior control and the execution and so on. The existing mobile robot usually takes the multi-purpose movement carriers. But the moving platform itself is only the carrier, does not have any posture change, and its mechanical arm can not complete the great rigidity support class work. The parallel robot has many merits, like the stable structure, big rigidity. But ite working space is very small. So often the parallel robot is seried in the moving platform, and used with the mobile robot.The parallel mobile robot is one new kind of robots, which unifies the parallel robot technology and the mobile robot technology. Its structural feature is to come up the fixed platform, and install the plane electrical machinery or dispose the driving wheels in the fixed platform's joint place of each branch. Comparing with the existing mobile robot, its structure is simpler, the rigidity and the bearing capacity is stronger. Comparing with the parallel robot, because of not having the fixed platform, it has the bigger working space and the stronger operation.The purpose of this study is to make the innovative design of the mechanism synthesis and the nature analysis of mechanism, and lay the key technologies foundation for this kind of robot's project applicaion. The key aim is to research the synthesis of mechanism for three-pole six degree-of-freedom parallel mechanism project. We can carry out the research by the Type Synthesis and Numerical Synthesis, the theory of the robot's Mechanism Topological Structure, the Screw theory. Then make kinematic simulation program and determine the correctness of mechanism based on ADAMS. We analyse the singularity of the typical mechanism by the screw theory, further kinematic analysis and the working space. Through comparing with the singularity, the inverse kinematics analysis and the working space of every typical mechanism, we determine the end test mechanism.At the end by error model we obtain the error model equation, and use the Monte Carlo simulation method to simulate the results of the output error and get the statistical law of the output error.