| The advantage of parallel robot is efficiency flexibility, big stiffness, small error, low cost, stable structure, large carrying capacity, easy to implement control etc. So it becomes one of the research focuses in the manufacturing industry, and is used in aerospace, shipbuilding, defense, automobile etc. And the parallel robot can be used in stone industry to finish the complex three-dimensional curved surface sculpture.The paper introduces configuration design of3-TPS/TP parallel robot in detail, determines the movement of mechanism. And analyses the mechanism kinematics in detail, find the relationship between pose change of tool nose point and displacement of active chain; find the mapping relationship between speed and acceleration of tool nose point and speed and acceleration of the active chain. Use the derived kinematics theory, if gave the pose, speed and acceleration of tool pose point, and then it can be transformed servo motor control instruction. So the kinematics analysis has great significance for parallel robot control system research.The paper described each subsystem physical characteristics of parallel robot in detail, used Lagrange function equation to establish the dynamics equation of moving platform and parallel operation head in respectively, gave two forms of driving force:one is considered the reason caused changes of driving force, second is considered subsystem. When the movement of tool nose point is known, use the two driving force expression, we can solve the range of driving force, and also get the biggest driving force, these can provide a reference basis for servo motor choice.It determined the telescopic device form of active chain, and adopt servo motor drive the ball screw realized telescopic movement, finished the selection calculation of ball screw and servo motor. It finished three-dimensional prototype modeling of parallel robot in SolidWorks, it express every component shape and assembly order. Through repeated design modification, it finally completed the virtual prototype model, and it provides reference for the subsequent component drawing, prototype production and control circuit arrangement.It finished kinematics and dynamics simulation in ADAMS, and we can saw the corresponding relationship between tool nose point movement and the driving force range of active chains more intuitive. It is very significant for the design of parallel robot. In addition, it also finished dynamics simulation analysis of parallel robot in MATLAB, and got the range of driving force, verified the gravity is the biggest influence in the movement, the influence of centrifugal force and Coriolis forces is very small. |
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