Optimization Based 4PUS-1PS Parallel Robot Dynamics And Parameters Of The Virtual Prototype Technology

Recent years, more and more attentions have being paid to the study of parallel robots. And a large number of unique parallel mechanisms have also been developed, and some have even been applied. Compared with the traditional serial robot, parallel robot is a novel robot which has more rigid structure, strong bearing capacity, smaller cumulative error, simple parts and other advantages. Therefore, its application prospects are unlimited. On the basis of previous studies, this thesis takes4PUS-1PS parallel robot as the research object and focus on the analysis of its kinematics, workspace, dynamics, simulation and parametric optimization.Firstly, the structural characteristics of4PUS-1PS parallel robot were analyzed. Then based on vector method and coordinate transformation method, the inverse kinematics model was created. Second, combining the kinematic constraints of this robot, the workspace map under the given structural parameters was drawn out in MATLAB software. Then, based on the Lagrange method, the dynamics model was established as well. Next, the robot was simulated based on virtual prototype software and the simulation results were compared with the theoretical model in order to verify the accuracy of kinematics and dynamics mathematical model. Finally, based on virtual prototyping technologies, the parametric model of this mechanism was created and the performance of the robot under different combinations of design variable was analyzed as well. The best combinations were chosen in order to make the performance reach the optimal.The result above provides a theoretical basis for the design of the controlling system and the practical application of this type of parallel robot and also provides a reference for the research of other type robot.