Test Method And Experimental Verification Of Kinetic Parameters Of Parallel Robot

Parallel robot is used for relatively wide range in space agencies. Its features which series robots do not have are stiffness, good dynamic performance, small end pieces of inertia, etc. These advantages are more significant in high speed and heavy-duty working conditions so that the application range of the parallel robot is widen and widely used in aviation, manufacturing, military, Marine development, health, services, and other fields. Now parallel robot has become a hot spot in the field of machinery, automation, etc. In China, research on aspects of parallel robot mechanism science and kinematics is relatively mature, but there are few dynamics research. The dynamics research is urgently needed along with the increased social demand for parallel robot.There are numerous advantages for the new type of 3-PSS parallel robot, such as the high precision of output, strong bearing capacity, simple structure and the inverse solution, etc. In other words, the new type of 3-PSS parallel robot not only has the advantage of the general parallel robot but also can overcome the disadvantages of positive and inverse kinematics multiple solution in generally parallel robot. So, it becomes much easier to apply for the organizational studies based on the inverse kinematics.In this paper, the structural theory, modeling, kinematics analysis, dynamics analysis and parameter test projects are studied and the significance, the internal relations of researching in different subjects are explained.Firstly, we can build the virtual prototype of the 3-PSS parallel robot by using 3D software Pro/E based on the theory of agency. Secondly, the kinematics analysis is the basis of workspace, dynamics, trajectory planning, error analysis, so this paper analyze the kinematics with the mechanics theory. The kinematics of parallel robot includes two parts which are positive and inverse kinematics. In this paper, the inverse kinematics is studied. Analyzing space motion characteristics of moving platform so that the out platform position equation can be derived by the relationship of the input and output of location. On this basis, the speed of slider and chain poles, angular displacement equations are gained, and the kinematics model is established. The link of the displacement, velocity curve and the spherical hinge respectively, and the moving platform, the formation of the block angular displacement and angular velocity curve platform of 3-PSS parallel robot in different Euler angle, different moving platform track slider are gained by use of Matlab.The calculation steps are reduced and the efficiency is improved by using Kane method to manage the dynamic equation. On the basis of kinematics analysis, building dynamics model with Kane method which includes solving the partial velocity, Angle velocity, generalized active force and torque, the generalized inertia force and torque, etc. Moreover, Matlab and ADAMS are used to simulate the kinetic model and analysis the result to prove the accuracy of the theoretical model. In doing so, a strong theoretical support is come out for the future trajectory planning, the dynamic performance optimization and the real-time control.A solution based on the laser tracking is presented in this paper to solve the problem of measuring space parallel robot kinematics parameters online. The basic thought is:To ensure the same trajectory for the moving platform and the theoretical model, we track three max points which are measurement points set on the moving platform by using a laser tracker, and calculating all the kinematics parameters of every measured component as soon as possible, on the basis of the dynamic measurement data from three measurement points which are in the same plane but not collinear.