Performance Analysis Of The6-PSS Parallel Macro Anipulator

With the development of science and technology, The macro and micro drive systemof double work station has gradually replaced the single drive system of the work stationin the field of precision machinery, medical and biological engineering. The macromanipulator as part of the macro and micro double drive system, the establishment of thekinematic performance directly affects the processing effect of the micro manipulator, sothe research of macro manipulator is of great significance. This paper studying the macromanipulator is based on parallel mechanism, and the prototype is6-form of PSS parallelmechanism.The paper describes institutional characteristics of6PSS parallel macro manipulator,and analysis the advantages of the agency as the macro manipulator. Establishinginstitutions kinematics model, and using the mechanism kinematics’ constraint equationspush out of the equation to calculate position, and using a simple and practical methodsolves the problem of the positive position solution. Using the equation of institutionalconstraints and institutional spherical coordinates search method, the three-dimensionalfigure to map the position workspace, and simply analyzed the mechanism of the influenceof structure parameters on the workspace, for body size design and optimization providesthe strong basis.For6-PSS parallel macro manipulator mechanism establishing posture error model ofaffecting precision, we find out the institutions single error sources, and analyze the singleerror comparison, draw charts, and then find out the influence of error sources, and thenanalyzes the posture parameters and structure parameters influence on accuracy, drawcurve graph, at last comprehensive analysis and comparison of each pose parameters andstructure parameters influence on accuracy. Analyzing the change of the positionparameters and the structure parameters for the influence of machine accuracy,establishing the position error compensation model, and by compensation the slidermovement manage theoretically error compensation and improve the end positionaccuracy. Establish macros3d model of the6-PSS parallel moving platform macromanipulator in Solidworks, and import the kinematics and dynamics simulation in Adamscertify the rationality of the institutional development, designing and manufacturingprovide the basis of the feasibility.