Design And Application Research Of A New Type Of Six Dof Reconfigurable Parallel Manipulator

The new six degree of freedom reconfigurable parallel mechanism reduced the interference between the branches based on maintaining the original bearing capacity,which improved the workspace of the mechanism.In this paper,a new six degree of freedom reconfigurable parallel mechanism was used as the research object to carry out the related design analysis and application research.First of all,the structure of the parallel mechanism of six degrees of freedom is synthesized on the basis of the theory of rotation.Then,the design of a new six degree of freedom reconfigurable parallel mechanism was designed with the integrated mechanism and the input pair of the mechanism was selected by the rotation method to get the reasonable input pair.Finally,the scale of the mechanism was designed to lay the foundation for the subsequent position,inverse solution,the singularity and the analysis of the workspace.After that,a new six degree of freedom reconfigurable parallel mechanism was used as the research object.The overall coordinate system of the mechanism and the local coordinate system of the branch are established.The rotational matrix method was used to establish the mathematical model of the position inverse solution of the mechanism.In the solution of positive solution,a mathematical model of the forward kinematics of the mechanism was established by the constraint relation of the three hinge points on the upper platform.Then each configuration was verified by numerical method to prove the correctness of the mathematical model of the positional and inverse solution of the mechanism.Then,the mechanism was used to find the Jacobi matrix of the mechanism under each configuration.In the reverse singularity,the Jacobi matrix method was used to find the positions of the mechanism under the reverse singularity.In the positive singularity,the singular trajectory of the configuration one was obtained by using the Jacobi matrix method for the configuration.The singular trajectories of the configuration of the two or three and four configurations are obtained by the mechanism singularity theorem for the configuration two to the configuration four.In addition,several special singular configurations of the mechanism are obtained by the method of spiral theory.Three-dimensional polar search method was adopted to find out the working space of each configuration of the mechanism and make comparison.In the workspace,which provided a theoretical basis for the application of the mechanism in engineering.Finally,the new six degree of freedom reconfigurable parallel mechanism was applied to the flight training simulator,the stability platform of the carrier radar antenna and the parallel machine tool which their corresponding virtual prototype was designed.The working principles and advantages of each virtual prototype were discussed in detail.Finally,the application of the organization was popularized in order to show the wide and frontiers of the new six degree of freedom reconfigurable parallel mechanism in engineering application.