Mechanism Synthesis And Kinematics Analysis Of Parallel Robot Based On Unconstrained Chain

The organization innovation of mechanical design is the eternal theme. Although the parallel robot mechanism research already has achieved great development, but the parallel robot mechanism that can be applied types also is less, the reason is that the design process of parallel robot mechanism full of nonlinear and strong coupling. The design of parallel robot mechanism determined the function of parallel robot to a great extent, so the type innovation of parallel robot is very important. To this, type comprehensive of6dof parallel robot and asymmetric3TnR parallel robot research are done respectively from the angle of the topology agency in this paper.Firstly, some basic knowledge of screw theory are introduced; the basic sports vice and complex movement vice type of parallel robot mechanism are summarized; Uncon srain chain is defined based on the reciprocal theory and put forward the concept of g eneral equivalent KP screw, considering with the screw relationship between vice spiral, existing drive mode, unconstrained chain is synthesized and optimized, prepared enoug h for the mechanism synthesis.Secondly, six branch chain and three branch chain six degrees of freedom parallel robot mechanism are synthesized based on the optimized unconstrained chain. In addition, based on the principle of passive chain, this paper puts forward the concept of generalized passive chain, and based on this concept introduces less freedom asymmetric parallel robot mechanism of the basic principle of design, and to design the integrated3T1R parallel mechanism as an example, studies the less freedom asymmetric parallel robot mechanism type comprehensive steps, and three new3T1R parallel mechanisms are got.Thirdly, the correctness and validity of this structural synthesis method was proved by simulation analysis to3-PRRS mechanism and2-RPC/2-SPC mechanism.This topic research not only helps to playa certain guiding role synthesis and analysis mechanism but also playing a certain guiding role to find new organization, its configuration synthesis method riches and simplifies the comprehensive of parallel robot mechanism.