Research On Programmed Kinetostatics Analysis For Parallel Manipulators Based On Ordered Single Opened Chains

According to the research status of dynamics analysis of parallel manipulators, Kinetostatics analysis of parallel robots based on the theory of single opened chains, proposed a way to analyse the dynamics in a routinization method.The thesis consists of the following parts:First, an concluding of the various dynamics analysis which be applied generally by now,and compare their advantages and disadvantages.Second, the ordered single-opened-chain method is proposed for inverse dynamics of parallel mechanism have been introduced.According the inverse order of mechanism decomposing,a dynamics model is built by using Newton-Euler equations to reveal the essential relationship between topological structure and dynamics of the mechanism,which is coherent with kinematics model.Putting forward the idea of building a database for storing dynamics program models,and the specific procedure that from theoretic analysis to achieve routinization have been Outlined.Third,the common SOCs are classified into three kinds, and each one is analyzed using the SOCs method. The results can be used as modules for the kinetostatics analysis of parallel robots.and these units can be invoked as a sub-module,those make a good foundation for robotization of parallel manipulators dynamics analysis.Fourth,taking 4 DOF 2T-2R parallel manipulator for example,After the kinematics analysis, inertia forces and inertia torques can be computed, and then put them onto the robots to perform the kinetostatics analysis.For the coupled degree of the robot is just one, it is easy to get the solution of the analysis.At last,the generally process about routinization have been explained in detail,and gives the results of running the program,then the availability of this routinization method has been demonstrated.