Research On Programmed Kinematic Analysis For Parallel Manipulator Based On The Ordered SOCs

According to the development of kinematics analysis of parallel manipulators,the author put forward a new method.On the basis of the ordered SOCs (single opened chains),the model provide a convenient and efficient way to analyse the kinematics in a routinization method.The thesis consists of the following parts:First, an simple concluding of the various kinematics analysis which be applied generally by now.Second, related definition and basic concepts about the routinization have been introduced,the specific procedure that from theoretic analysis to achieve routinization have been expounded through practical examples,putting forward the idea of building a database for storing kinematics program models.Third,basis on the structure features,the ordered SOCs have been classified reasonably,the program models have been built and be hold in program library in appropriate form,those make a good foundation for robotization of parallel manipulators kinematics analysis.Fourth,taking 4 DOF 2T-2R parallel manipulator for example,the generally ideas and specific procedure about routinization have been explained in detail,the result from running program has been compared with that from motion simulation of Solidworks,then the availability of this routinization method has been demonstrated.Fifth,the attentive problems of this method have been summarized,so as to optimize program design and enhance efficiency.The researches in the paper are the complement for kinmatics of parallel manipulator, and it makes the parallel manipulator science and technology studied deeply on mechanical theory. Therefore, the research content in the paper has important significance to improve efficiency of kinematic analysis, implement real time control and promote parallel manipulator science and technology.