The Dynamics Analysis And Simulation Of3-PSR Parallel Robot

As a very important branch of the area of robot, Lower-mobility parallel robot has formed a complementary relationship with the traditional serial robots which has brought to the attention of the scholars and related institutions, and has broad application prospects in the situation of industrial production. In order to establish a theoretical basis for further research and experiment, this dissertation focuses on3-PSR parallel robot and investigates modeling and simulation of kinematics and dynamics parts and workspace.At first, the development of robot and an overview to the current theoretical research content and application status of parallel robot is presented, and the research method used by scholars at home and abroad and achievements of kinematics and dynamics are introduced. Base on the establishment of the size of each bar parameters、kinematics pair and the set of relative coordinate system of the system, the kinematics constraint equations of the mechanism are derived, and the mathematical model is established. Based on1stOpt and Matlab, the positive solutions and inverse solution of location for solving the numerical examples are presented and verified. Then the workspace of3-PSR parallel robot is analyzed and solved by means of the boundary search method, and the three dimensional graph and cross section graph are drawled by Matlab, and the campaign platform position is limited in order to analyze the fixed posture workspace and the influence of singular configuration.Then ask the first derivative on the constraint equations of the mechanism and the Jacob matrix is solved in order to analyze the relationship of the velocity. Based on that, the LaGrange dynamic equation of3-PSR parallel robot is established. The dynamic inverse problem is solved and analyzed on Matlab.At last, the virtual prototype model of3-PSR parallel robot is built based on ADAMS, and the Kinematics and dynamics simulation of the mechanism are accomplished, then the deviation is analyzed in order to verify the kinematics and dynamic model by the contrast between the results of calculation and simulation.