Motion Simulation And Accuracy Analysis Of 3-PCR Parallel Robot

Parallel Robots application is more and more widely, become a focus of research institutionsin today’s society, because of their simple structure, strong bearing capacity, small gravity, high precision, etc.This paper selects 3-PCR Parallel Robot as research object, and its kinematics simulation, accuracy analysis and accuracy synthesis will be researched.The main work is as follows:Make sure the research object and the kinematics simulation.The paper makes a model of 3-PCR Parallel Robot with Pro/E software(to establish its mathematical model), find out the position inverse solution and forward solution of equation. After verification about the forward and inverse solution of equation, through the calculation of MATLAB, verify theplanning trajectory, and understand the kinematics relationship easy to control in real-time. Kinematics simulation with ADAMS, verify the correctness of theoretical analysis and to lay the foundation of precision analysis.3-PCR Parallel Robot has precision analysis with MATLAB. Hypothesis a structure error and multiple structure errors of 3-PCR Parallel Robot exist, it is concluded that the effects of the driving pole’s error, sliding error of cylindrical vice, long pole’s error and Angle’s error, error of moving platform and the static platform on Moving platform’s position with MATLAB, when the static platform’s position of 3-PCR Parallel Robot changes its position, it provides the theoretical basis for accuracy synthesis.According to the aboveanalysis of the accuracy of 3-PCR Parallel Robot carries on accuracy synthesis.The accuracy synthesis is the inverse process analysis accuracy. Along with the changes of the static platform’s position,when3-PCR Parallel Robot exist position’s error. Thevariety from one chain to three long-chains’ driving pole’s error, sliding error of cylindrical vice, long pole’s error and Angle’s error, error of the moving platform and the static platform with MATLAB.Through the above analysis of 3-PCR Parallel Robot, it provides a theoretical basis for further study of parallel institutions in future, has a certain practical value.