| The virtues of parallel robot (P.R) are high rigidity,excellent precision, strong carrying capacity,high speed, high acceleration, high tool forces and low inertia. During the application process, parallelrobot especially lower-mobility parallel manipulators has good development prospects. But itsworking space is low for most of parallel robot. This weakness makes parallel robot applications creata certain effect. For this reason, this paper analyzes a larger working space of parallel robot. Inaddition to a large working space,it also can prevent pole winding effectively， that is, Gantry-Tauparallel robot.In this paper, Gantry-Tau parallel robot is analysesed in the degree of freedom, displacement,workspace, singularities and path planning of the positioner.. The kinematics simulation has beencarried out on the mechanism by the use of ADAMS software；its result was identical with thetheoretieal analysis.On this basis,the control system of this robot was designed. This control systemwith PID control and simulation research of control system based on MATLAB/SIMULINK, thisarticle gives a set of parameters of PID control system. This set of parameters allows the system toachieve excellent dynamic response performance. And then the Gantry-Tau parallel robot was inADAMS simulation of simple, got under the condition of some parameters of motion curves,including curve, speed and acceleration curve. Finally Gantry-Tau parallel robot is analysised withANSYS Workbench for finite element,and get its stress-strain diagram. |
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