3-PRR Planar Parallel Robot Motion Simulation And Precision Analysis

Parallel robot has many advantages such as a simple structure, big stiffness, high loadcapacity, small heavy-duty, good dynamic performance and high position precision, so it isapplied in the expanding areas. The thesis selects three degree of freedom PRR planarparallel mechanism for study and the goal is to create a3-PRR planar parallel robot model.We do the research of its dynamics, static and the analysis of the overall precision error inorder to provide a theoretical basis for the working platform with three degree of freedom.This study enriches the type of planar parallel robot and laid the foundation for the modelpractice.Firstly, the thesis begins with the study of dynamics and establishes the solid model ofparallel robot. Combining with the Lagrange equations and virtual principle, we establishthe mathematical model of the robot dynamics. According to using ADAMS software, wedo the simulate study of the robot and draw the input and output curves of the kinematicsand dynamics. The simulation fulfills the robot’s visualization and we find out a singularposture of the parallel robot by simulation.Secondly, we do the static finite element analysis about the key parts of the robot.Using ABAQUS finite element analysis software, we study the stress and displacement ofthe robot in different pose and load conditions. Then, we find out the dangerous sections ofthe parallel mechanism in order to provide the reference for the design of the robot.Then, we do the analysis about the accuracy of the parallel robot. Applying the inputand output differential, we establish the foreword solution mathematical model the outputpose of the robot and propose the analysis method of pose error. Using computer simulation,we find out the factors which affect the pose error mostly. We propose a method of errorcompensation and it can reduce the output pose error.Finally, we improve the physical model. By analyzing the problem of the robot when itmoving, we improve the physical model by the data from the research of dynamics andstatics. After the model improved, we find that the accuracy of the robot increased, whichverifies the correctness of theoretical research and analysis as well as the physical model ofthe importance in the study.