Design Of Overloaded3-PRS Parallel Mechanism

With the background of National Science and Technology major project(2009ZX04007-011)"Senior CNC machine tools and basical manufacturingequipments", the paper is about the research and design of the overload3-PRSparallel mechanism.First, build the kinematics model with the spindle angle by Z-X-Z Eulertransform, get the direct and inverse solution and velocity mapping model.Simulate Soliworks Virtual Prototyping.Second, give the method to define the workspace of3-PRS with thekinematic analysis. The metod is to find the boundry of the workspace by searchthe singularity confugyration. Then the dexterity character is analyzed within theworkspace. Finally, the dissertation gives the synthetical dimension analysis tolay the foundation for kinematic design.Third, the stiffness model of3-PRS mechanism with consideration oflead-screw system and links system’s deformation was build. We give thederivation of its stiffness matrix by using principle of virtual work. Then wegive the stiffness distribution with the maximum and minimum engivalue ofstiffness matrix analysis. Inaddition, A FEA model has been constructed toverify the method.Finally, in order to stablelize the axial force, the force/position controlmethod was designed. The stable axial force is the key factor which affects thewelding quality effectively. With the machining requirement, the force sensorswere seleced and the mounting position was determined. And then theoreticallyanalyzed the load-carrying condition. Then, the filter was designed by usingKalman filter method. And the force/positon control software was wrote withC++language.