Study On The New Hybrid Parallel Manipulator Of Three-Translational And One-Rotational

The robots usually have two types of series and parallel, and studies on which have already achieved some certain results for them at present. In this paper, proposed a new class of join-assisted branched RTPTR of novel parallel robot mechanism with three translational and one rotational in serial-parallel manipulator mix manner.The 3-TPT+RTPTR model in mixed-models of parallel, one for study in this paper. Analysis of the location of the bodies, kinematics, insularity, and dynamic studies are worked out by relating to the use of theory.The design of this paper is based on the special motion characteristics of unique side chain, combined with the existing parallel mechanism with three translational and one rotational motion characteristics. First of all, the general characteristics of such hybrid Parallel manipulator are analyzed and its general kinematic diagram of mechanism is given. Secondly, take the model 3-TPT+RTPTR for example, established a position of positive and negative solution of equations, which shows the analytic expressions. The Jacobi matrix of the institution is obtained, on taking advantage of movement of factors. Besides, the relational representation formulas of the agency's input and output velocity, acceleration are further worked out, which provides a theoretical basis for the subsequent development of dynamic analysis and control system.Meanwhile, the agency conducted a theoretical analysis of the dynamics for the body is analyzed about theory and simulation. Third, it is based on advantages of simulation exercise on ADAMS and solid modeling functionality on PRO/E. So, the virtual model for 3-TPT+RTPTR is established by using PRO/E. At the same time, such model-driven, pairs are added though interfaces MECH/Pro on the virtual prototype are imported into ADAMS, so that the simulation model can be established. Finally, in ADAMS, on the body for location, kinematics and dynamic simulation, verify the consistency of theoretical derivation and simulation results. It provides a strong basis to build the physical prototype and study the cases in actually processing.These machines, whose mechanism is similar to that in this paper, can be seen in many factories, such as automatic processing machine, automatic assembly line. So, there will be broad prospects for application.