Analysis And Design Of3-RRS Parallel Robot

Modern war has greatly increased the requirement of main battle tanks on theirperformance. This makes the development of tank turret and fire control system testplatform became necessary. At the same time, along with the development of therealistic simulation technique, the use of driving simulator is gradually applied to thedriving simulation in different areas. This requires us to deeply study on the motionsimulation platform.In this paper the folding type3-RRS parallel robot which is used for motionsimulation platform was carried on a preliminary analysis. This research mainlyaimed at analyzing the kinematics, dynamics, and hydraulic drive system of parallelrobot. This would be the foundation of follow-up studies. The study of the foldingtype3-RRS parallel robot has important guiding significance to the engineeringapplication of it.Firstly, this paper analyzed the folding type3-RRS parallel robot’s structure.Then, by using Euler Angle representations, the position description of movingplatform of parallel robot had been defined. After that, the inverse kinematics modelof parallel robot had been made according to the analytic solution of kinematicsanalysis. Then the simplified velocity Jacobian matrix of parallel robot was obtained.Moreover, this paper simplified the3-DOF parallel robot as a single body systemfrom the perspective of practical application. Then a single body dynamics model ofparallel robot was established. Furthermore, according to the three basic equations ofhydraulic power mechanism, the hydraulic drive system model of parallel robot wasestablished.In order to verify the feasibility of the theoretical analysis and further study ofthe3-DOF parallel robot, this paper established the ADAMS model of parallel robot.Then ADAMS and Matlab interface file was used to build an experimental platformfor co-simulation under the environment of Matlab/Simulink. After that, the inverseposition model of parallel robot and dynamic model of parallel robot were verifiedrespectively. The experimental results showed the feasibility of their application.Moreover, the kinematics and dynamics simulation analysis of3-RRS parallel robot were conducted. This helped with the further understanding of the movement of theparallel robot. At the same time, discoveries of a coupled movement along the Xdirection when the robot was in roll and pitch motions. In the structural design ofparallel robot, a special singular configuration was discovered on the folding type3-DOF parallel robot. Suggestions were given to avoid triggering theconfigurationally singular structure, and a singularity test was conducted for thestudied parallel robot. In the end, according to the principle of load match, the designguidelines of parallel robot were obtained for the hydraulic cylinder andelectro-hydraulic servo valve selection. And this completed the design of hydraulicdrive system of3-DOF parallel robot.