The Simulation And Trajectory Planning Of 3P-6SS Parallel Mechanism Based On OPENGL Technology

This thesis aims at studying the 3P-6SS parallel mechanism which is presented by Beijing University of Posts & Telecommunications alone. The mechanism has been widely used for its advantage of higher rigidity, higher carrying capacity, higher dynamic performance and simple structure. Although people have had some research achievement on this mechanism, still it needs further study. In the first part of the article, the inverse position solution of the mechanism is deduced. The simulation with the VC++ and OpenGL technology is realized. This kind of simulation has relative representatives and innovation. It translates the upper platform’s data to the distance from the respect slide to the platform center, and furthermore we can get the rotate speed of motor fixed on the slide. When finished one calculation, the delineation of the mechanism should be refreshed once. During the period of emulation, people can clearly get the action of each part of the mechanism, and they can check & validate the theoretic work principle, work volume, function and the availability & real-time of kinematics solution. And so they can adjust it according to the emulation result. Also we have validated the motion planning and proved its reliability and validity. In the past, getting the direct kinematics solution of parallel mechanism is difficult and it is more difficult to verify the inverse kinmetics. Now the problem is resolved.With the simulation based on OpenGL technology, the real motion state can be reflected, and the widely use of this technology can greatly reduce research cost. During the designing process of parallel mechanism, the problems can be easily found & settled, and then the period of mechanism investigation is shortened. It has great significance in the field of parallel mechanism research.