| Parallel mechanism has been widely used in the various fields of social production, with its low error, large rigidity, high accuracy and speed, easy to control and other good characteristics. With the deepening of the research, the parallel mechanism was successfully applied to the wind tunnel test of both at home and abroad, but did not apply in the field of bottom-loading system. Based on this, this article worked on 6-PSS parallel mechanism which has high speed movement characteristics. The design and analysis of the mechanism are researched and discussed, and they will be used as a theoretical reference for the similar mechanism which is used in wind tunnel test.Firstly, the structure design of the 6-PSS parallel mechanism is described in details, and the linear motor is selected as the drive of the mechanism. Then the equations for the forward-inverse kinematics solution is derived, and the program of the method is written by using the Matlab software, and it is verified by using the Adams software, the method of forward-inverse kinematics can be served as reference for the similar institutions. On the basis of kinematics analysis, the workspace of the mechanism is analyzed by using the search method, and the reachable workspace of a single degree of freedom and multi degree of freedom movement is obtained. Finally, the dynamic model of the mechanism is simplified, the method of inverse dynamics analysis is given based on the Lagrange equation and the principle of virtual work, and it is verified by using both Matlab and Adams software. The drive force, the force of global hinge and the friction of the sliding block are obtained by inverse dynamics analysis, and they will be used as a theoretical basis for the work of motor selection, parts verification and mechanism servo control. |
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