An Analysis On Kinematics And Dynamic Performance Of A 3-dof Parallel Robot With Micro-movements

The background of this thesis is the innovative fund project “The research on automatic vibration reduction of crystals” that from CETC. To meet the requirements of it, a new three degrees of freedom micro parallel robot is designed.Firstly, an introduction of the structure of this robot is given. The degree of freedom the robot is solved, the mathematical and the virtual prototype kinematics models of the robot are established. The two models have been proved right by the simulation example and some suggestions for the trajectory planning are given with the result of simulation example. The influence factors of workspace of this robot are analyzed and workspace is found out.Secondly, the mathematical dynamics model of the robot is established with the Lagrange equation method, the virtual prototype dynamics model of the robot is established too. The two models are proved right by the simulation example. The influence factors of dynamic characteristics and the stiffness of the robot are analyzed and some suggestions about choosing drive motor are given with the results of the analysis.Finally, the way from the center to the edge of the cross section of the workspace, the way from the middle to apex of edge of the cross section and the way from the high to the low of one the vertical track in the workspace to search the workspace for the minimum natural frequency of the robot structure are determined. The entity models of the structure of the robot for different positions are established. The modal analysis of these entity models are done in ANSYS. The minimum natural frequency of the structure of the robot is got. After analyzing these data the minimum natural frequency is got. It provides Basis for ascertaining servo bandwidth of the robot.