Property Analysis And Simulation For6-DOF Redundantly Actuated Parallel Manipulator

With the increasing demand for radar applications, both the reflective area andweight of radar antennas have endured a dramatic improvement, non-redundantlyparallel manipulators fail to meet the demand of engineering due to the limitedsupporting connections fewer than six. In order to achieve the antenna array flatness ofthe large-scale phased array radar, design simulation of structural parameters andsolution of workspace of6-DOF redundantly actuated parallel manipulator are studiedin this thesis and the flatness is checked with finite element analysis software and a newtechnique of automated modeling is also presented in this thesis.Firstly, on the basis of statics a structural optimization model is developed, inwhich keep balance as even as possible of the force at every leg is considered asobjective function. Next the genetic algorithm is applied to the structural design ofparallel manipulator. Then it is verified that the optimization improve the flatness ofsuper subarray.Secondly, analysis on workspace of6-DOF redundantly actuated parallelmanipulator is made, and a new algorithm, based on forward kinematics, for evaluatingstoppage workspace is presented. In order to validate the algorithm, a case study is alsopresented.Thirdly, in order to facilitate the kinematics and dynamics research of6-DOFredundantly actuated parallel manipulator, a novel method for parameters modeling invirtue prototype technology software is developed. This method is also proved correctand efficient.