Error Analysis And Improved Design Of A 3-P4R Parallel Barinder

The main research content is error analysis, improved designing, kinematics analysis and simulation based on a 3-DOF 3-P4 R parallel barinder. After the static errors are analyzed, a method of increasing redundant constraints is adopted in the improved design. Then DOF condition of this new design is analyzed and the kinematics equation are established with the D-H theory and reverse solutions of which are obtained. And the physical prototype of the new parallel grinding robot is installed.Firstly, the background and developing situation of accuracy research is discussed, then error analysis of the 3-P4 R parallel barinder is studied and the influences of the static errors are obtained. Then a method of increasing redundant constraints is adopted in the improved design. The DOF condition of the new 5-P4 R parallel barinder is analyzed with the Screw Theory and the kinematics equations are established with the D-H theory and reverse solutions of which are obtained. The virtual prototype of the parallel barinder is then established with the CAD software SOLIDWORKS.With the kinematics analysis of the parallel barinder is studied, imported the virtual prototype into CAE software ADAMS, set all constraints, parameters and driving functions for direct and reverse kinematics simulations. After kinematics simulation is performed,accurate moving statement of the robot is provided, and by comparing with the former design,the effectiveness of this new design is verified. The physical prototype of the new parallel barinder is installed, provided a solid foundation for further optimal design and motion control design.