Optimization Of Motion Parameters Of A3-UPS/S Spherical Parallel Mechanism

Robot can be divided into three categories in accordance with the structure, as one of the three branches, spherical structure robot has an important practical application prospects and drawn domestic and overseas scholars’ great attention.While as a preferred configuration among of spherrical3-DOF paralled mechanism which is driven by moving pair,3-UPS/S spherical parallel mechanism of removeable drive,it can be applied to stable platform of ship as a actuator,has important practical application prospect and development value. With regards to this, the kinematics, design space, work space, singular, kinetic several aspects of the institution is studied, the main content is as follows:Forward and reverse solution model of posture of3-UPS/S spherical parallel mechanism are established. Velocity and acceleration model of the mechanism are studied. Design Space to the mechanism is derived based on the Design Space theory.By means of reverse solution model of posture of3-UPS/S spherical parallel mechanism, Actual workspace to mechanism is established by using the method of computer search considering the limits of the cone angles and interference between links kinematic constraints. Performance indexes to measure the moving platform axial rotation ability and deflection ability are defined; Performance atlases of the indexes are plotted in the Design Space. Rotation ability and deflection ability of the mechanism are analyzed.Based on Jacobian matrix algebras, Singular Configuration of3-UPS/S spherical parallel mechanism is analyzed. Performance evaluation index to measure ability of avoiding Singularity is defined. Performance atlas of the index is plotted in the Design Space. Ability of avoiding Singularity of the mechanism is analyzed.Based on velocity performance, bearing capacity performance, stiffness performance, High quality Workspace of the mechanism is analyzed; Performance atlases of the indexes are plotted in the Design Space. Distribution regularity of the performance index is studied in the Space Design.Based on workspace and singular configuration of3-UPS/S spherical parallel mechanism, Using performance atlas superposition method for optimization regional in the Design Space. Dimension parameters of the mechanism are optimization Designed considering axial rotation ability, deflection ability, velocity performance, bearing capacity performance, stiffness performance etc of moving platform of the mechanism.Based on Kane method, dynamic model of3-UPS/S spherical parallel mechanism is established. Kinematics and dynamics of the mechanism are simulated by adopting ADAMS software.