Theoritical Study Of A Six-dof Parallel Manipulator With Three Planar Limbs

Now,in the field of parallel manipulators,6-dof parallel manipulators are applied wildly.With relative to limited-dof parallel manipulators,6-dof parallel manipulators has the advantage of high stiffness,not easy to get singularity,low moving inertia,high compactness.Thus,6-dof parallel manipulators have been used in several fields,and have been hot spot of parallel manipulators.The application of the closed-loop manipulators make the structure of mechanisms more compact and branches not to be interferential each other.Finally,the flexibility of mechanisms can be improved. Also, the parallel manipulators applied to the climing wall is a new attempt.In this paper,a new 6-dof parallel manipulator with three planar limbs is proposed.It can be analysised by the following three parts.Analysis of main bodies includes the position analysis、kinematics analysis、dynamic analysis and workspace analysis.Based on vector method, position model is obtained. Based on the affected coefficient method,the kinematics model is obtained.And based on the principle of virtual work and Newton-Euler Equation, the unified static and dynamic models are established.All of the above are verified based on CAD and Matlab software.Finally, utilizing the CAD variation geometry method to solve the all attitude workspace of main body.The kinemics analysis and the dynamic analysis of the drive branches’ return is similar to the kinematics analysis and dynamic analysis of main body,the methods are based on vector method, the principle of virtual work and Newton-Euler Equation.The analysis of gait wall-climbing robot focus on walking order of branches and established of walking state of wall-climbing robot. Motion simulation and event-based of CAD software are the main tools to achieve them.