Research On Kinematic Performance And Simulation Of3-DOF Translational Parallel Robot

As a special parallel mechanism in parallel robot, the end-effector of the3-RCR3-DOFtranslational parallel robot can realize three-dimensional translational without rotation. Theparallel robot has the advantages of less kinematic chain, high bearing capacity, symmetricalstructure, low manufacture cost, easy driving control. widely used in microelectronics,precision machining, biological sciences and medicine, etc. This paper take the3-RCR3-DOFtranslational parallel robot as an object and mainly studies its kinematics, dynamics,kinematic performance and simulation of the virtual prototype.Firstly, the paper studies on the kinematics of the3-RCR3-DOF translational parallelrobot. using the screw theory, the degrees of freedom and the distribution of the parallel robotare calculated. and verified by the modified Kutzabach Grublerformula, the output of theparallel robot is determined as3T type motion. Based on the homogeneous coordinatetransformation matrix, the mutual transformation of the moving coordinate system and thefixed coordinate system, position equation was established, the forward solution of positionand the inverse solution of position of the parallel robot are obtained, through the numericalexample of the MATLAB, verified the forward solution of position and the inverse solution ofposition of the parallel robot is correct. Then, kinematic analysis of velocity and accelerationbased on kinematic influence coefficient method. and decoupling analysis of the3-DOFtranslational parallel robot.Secondly, the paper studies on the workspace of the3-RCR3-DOF translational parallelrobot. Based on the Monte Carlo method, the generalized stochastic joint variable arecombined by random sampling of the probability theory, through the forward position solution,search the workspace of the3-RCR three translational parallel robot. Then based on the numerical search method, through the inverse position solution and the constraint conditionsof the position coordinates, search the workspace of the three translational parallel robot.theresults show that based on the numerical search method search the workspace of the threetranslational parallel robot, are obviously superior to the Monte Carlo method in the graphicseffect or in the solving accuracy.Then, the paper studies on the statics and dynamics of the3-RCR3-DOF translationalparallel robot. The statics of the3-RCR3-DOF translational parallel robot is analyzed by theprinciple of virtual power, static transfer equation is obtained, and then studies on the drivebearing performance evaluation index of the parallel robot. Based on Lagrange method, thedynamics model of the3-DOF translational parallel robot is got from the point of view of thesystem energy conservation, and the solution of Lagrange dynamics equation of the threetranslational parallel robot.Finally, the paper studies on the simulation of the kinematics and dynamics of the3-RCR3-DOF translational parallel robot. Based on collaborative simulation technology of thePRO/E and the ADAMS virtual prototype, the virtual prototype model of the3-RCR3-DOFtranslational parallel robot is established, the screw trajectory of the end-effector can berealized. And its forward kinematics, inverse kinematics and decoupling are simulated, thegraph of parameter of the reference point on the end-effector is obtained. The dynamicsimulation with external load and no external load on the end-effector. compare to thevariation of the driving power consumption and the driving torque, the results providetheoretical guidance for the selection of the drive motor.