The Kinematics Analysis And Simulation Of3-PSR Parallel Robot

As a very important branch of the area of parallel robot, lower-mobility parallel robothas been a hot research topic in robotics and has broad application prospects in the industryand other industries.3-PSR parallel robot is a typical kind of lower-mobility parallel robotand has been widely used in practical application. In order to establish a theoretical basis forfurther research and broadening the application way, this dissertation focuses on3-PSRparallel robot and investigates modeling and simulation of kinematics parts.At first, an overview to the current research and application about parallel robot ispresented, and the research methods used by scholars and achievements are analyzedadditionally. Then the kinematics of3-PSR parallel robot is studied. This paper establishedthe mathematical model and given the size of each bar parameters、kinematic pair and spatiallocation. The moving and fixed coordinate system is set and the kinematic constraintequations of the mechanism are derived and the equations are solved by quasi-Newton. Basedon VC++6.0, concrete numerical examples are input to the program, which is programmedwith C, to verify the mathematical model. Then asked the first derivative and the secondderivative on the constraint equations of the mechanism and the equations of the speed andacceleration could be obtained. This paper solved these equations by the quasi-Newton andthe entire principal and prepared the corresponding solving program and given numericalexample calculation.At last, base on the ADAMS software the3-PSR parallel robot virtual prototype model isbuild and the full kinematic pair constraint and each drive slider moves according to theknown motion law are added. Thus, kinematic graphs of velocity、acceleration could beobtained by setting up the time of kinematic simulation and are used to compare withtheoretical models to verify the kinematic model and calculation results.