Research And Design Of A Novel 3-rpsr Parallel Manipulator

The Parallel Manipulator is relatively limited in some of the workspace, and the accuracy and stiffness and speed requirements of the higher areas have obvious advantages, compared with the serial manipulator. This paper is aimed at the flexibility and the rigidity of the series of small mechanical hand is not enough, and lack of stability of the place. Based on the domestic and foreign scholars and the research team, a new type of manipulator based on 3-RPSR parallel mechanism is designed, and its performance is studied deeply.First, the structural analysis of the novel 3-RPSR parallel manipulator is carried out, and the degree of freedom of the parallel mechanism is analyzed. The correct position of the positive solution for the constrained equations is established, and closed vector method is adopted to solve the position inverse solution by quick and easy. Using the numerical method, the position and the positive and inverse solution of the mechanism are verified by MATLAB.Second, the kinematics performance of the novel 3-RPSR parallel manipulator is studied. The singularity, workspace and dexterity of the 3-RPSR parallel mechanism are studied. The relationship of the mutual satisfaction of the pose parameter is obtained; the workspace of parallel robot is solved by using numerical search method based on SimMechanics module; based on the reciprocal of the condition number of Jacobi matrix, the distribution and structure parameters of the dexterity in the workspace were analyzed.Then, the 3D simulation model of the parallel manipulator was established by using Pro/E software, and import the ADAMS software aimed to simulate and analyze the kinematics of the robot. The spline curve function of the output driving motor of a specific trajectory is planned by the inverse solution; the displacement, velocity, acceleration, angular velocity, angular velocity and angular acceleration curve of the positive and negative solution of the end of the movable platform are respectively obtained; the correctness of the mechanism of positive and negative solution is verified, and also show that the mechanism can realize high speed and high acceleration motion performance.Finally, simulation analysis of combined control of 6-DOF of 3-RPSR parallel mechanism based on ADAMS /simulink. According to the position of the moving platform as the input to the parallel mechanism of the moving platform center point as the control object, PID as a controller, through the comparison with the Adams theory, the simulation results of the control system based on PID control system error is small, the performance of the mechanism has been greatly improved.