Based On Virtual Prototyping Technology 6-sps Parallel Robot Kinematics And Dynamics And Parameter Optimization

The characteristics of 6-sps parallel robots are big structural rigidity,large load-carrying capacity, high precision, calculating the inverse positions easily, it is used not only in various fields, but also has become a hot topic.The kinematics and dynamics as well as the optimization of the parallel robot provide the main theoretical significance to the robot control.This paper improves the structure which based on the traditional Stewart platform, designs a symmetrical 6-SPS parallel robot manipulator, uses MATLAB software to draw the parallel robot workspace whether the rods are interfered with each other. This article puts forward a workspace volume factors that affect the workspace volume, and focuses on the application of virtual prototyping technology to work out kinematics forward and reverse solutions of parallel robot, adds a driving point to the end midpoint of the moving platform, can directly measure the displacement and time curves of 6 rods, obtains the kinematics inverse solutions. ADAMS/View provides with powerful post-processing, the measured trajectory spline curves transfer into a sample function being added to the prismatic pairs as a known function, then measures the trajectory curve of the end of the moving platform to get forward kinematics solutions. Analysises the speed and force of the structure, obtained the dual relationship between them. Then according to the principle of virtual work, calculates the virtual displacement vector, on the basic of the kinematics researches the dynamic of this structure, establishes the lagrangian dynamic equations of multi-rigid body system, simulates and draws the force and torque as well as velocity and acceleration curves of each rod, so we can directly observe the movement of each rod.Finally, this paper chooses the key structural points as design parameter variables, selects the maximum output rod driving force as the objective function,does several repeated optimization tests, gets the maximum driving force and the parameter points when gets the maximum value. It not only optimizes the performance of the structure, but also optimizes the structure.