Analysis And Optimization Of Co-simulation Technology For Similar SCARA Based Robot

In this article, a three-DOF parallel manipulator with mobile platform rotating continuously is proposed, which is used for Co-simulation,and making a optimization design about the geometry of the main links.After the institution has constructed,it will need to make an analysis in variety of dynamic parameter on the Mobile-Platform.it is also need to make an analysis of the parallel mapulator’s space structure.Based on all knowledge,the main contents as follows;Firetly, to know every link which servo-motors nood to motive as well as their relationship.Especially on a few important parts which are linked to the Mobile Platform.It is similar with a Crank Slider Mechanism.Making a compute to the parameter such as displacement and velocity.Secondly,according to the function curve which is linked between angular displacement of the servo-motors and time, to obtain parameter which is needed in Co-simulation. Take the angular displacement of the manipulator’s end as the output of the system. Take control plat in Simulink, in order to realize the analysis of the Co-simulition between mechanism software and control software.It would see motive change of the mechine in ADAMS through change the input of the system.Thirdly,due to velocity and accuracy of the Mobile-Platform totally depend on the geometry of the crank ang link, so it would make an optimization design for the length of a few main link,aiming at making Mobile-Platform reached the accurate position at the least time. With the help of the ADAMS software to make a series prepare work which includes design variable,objection function,constraint functions and so on. It will not finish optimization design until make sure which is the best for Mobile-Platform about the length of a few links.