Analysis And Simulation On Kinematics Of 3-PSS Parallel Robot

Compared with parallel robot and serial robot,The characteristics of Parallel robot have Compact structure,Large rigidity, high speed, high precision, strong load capacity etc.and Widely used in industrial automation.However,Parallel robot containing multiple branched chain and closed loop structure,and Sports performance parameters Can’t measure by Common methods,Sports performance parameters affect Working space trajectory planning and Control system development directly.If Achieving the accurate control and practical application of parallel robot,must Determine the kinematic relationship of parallel robot correctly, get the right Reachable Workspace and Task workspace,and determine the optimal trajectory planning.This paper mainly studies Kinematics performance of 3-PSS parallel mechanism.Firstly,this paper analyses the basic principle of parallel robot mechanism configuration,get Degrees of freedom of 3-PSS parallel robot basis on Screw theory.Position constraint equation is established by Using the closed vector loop method.Get the kinematics reverse solution and positive solution model. Based on the kinematics model of the positive solution,Get the robot working space distribution With limit boundary search method by MATLAB software.Secondly, based on the principle to optimize the minimum execution time,do the trajectory planning for 3-PSS parallel robot, the Path planning is The typical path of grabing and pacing.Work path through segmentation processing,can be implemented by way of straight line and curve interpolation in the PC software system.The last,constructing the three dimensional model of 3-PSS parallel robot by Solid Works software,and puting into ADAMS software,Simulation and Analysis of the trajectory and The kinematics inverse solution and positive solution.Through the analysis of the consistency of simulation results and the kinematics Validation data,gaving Validated the correctness of the theory in this paper,Providing experience and theoretical reference for further Dynamic performance,organization optimization design,System control and The engineering application etc of parallel robot.