.6-the Thrt Parallel Institutions Stress Analysis And Simulation

According to the engineering practice command of certain military project, architecture design is discussed on a new type parallel manipulator named 6-THRT. Based on the model of the inverse solution, the paper simulates the movement of the hexapod, analyses change law on the velocity and acceleration of the moveable platform. second, according to the concrete parameters about parallel manipulator, a mechanical Model is established. The establishment of mechanical model for parallel institutions have important practical significance. For example, when a certain weight of tested object is put on the platform of the parallel structure, we must set carrying capacity of each branched chain, speed scope of the movement and output power to experiment under the situation of its setting scope. On one hand, As Mechanical structure is a non-linear system , we must establish the mechanical model in theory, then we can make the design logical by tests. On the other hand, we also have to build up force mode of the parallel manipulator which can complete precise movements, and Perceive load in order to achieve the limited intelligence. Parallel Robot model includes two aspects: static analysis model and dynamic analysis model. As the robot ,which is studied in this essay, has low speed and inertia, we can ignore its dynamic effect. Therefore, we mainly establish static analysis model to achieve both the positive solution and inverse solution in theory. Taking into account of the robot ,which are mainly used in docking the spacecraft, We can look poles as two-force poles. Then we can get a simple model from the original model. We have a 3d simulation on both the positive solution model and inverse solution model by Matlab, meanwhile we make analysis from the simulational plots. And taking into account the robot are mainly used in docking the spacecraft can be seen as the power-pole, and the original model was based on a simplified model.Eventually, some useful conclusions are obtained .The results provide reference conclusion for the design of parallel kinematics equipments.