Mechanism Characteristics And Rigid-Flexible Coupling Analysis Of Delta Parallel Manipulator

With the development of industrial automation level,industrial manipulators are more and more widely used.Delta parallel manipulator is recognized as one of the most successful parallel manipulators for design and application.The configuration of the manipulator is simple,with many advantages such as high structural rigidity,high load capacity and high positioning accuracy.In this thesis,three degrees of freedom Delta parallel manipulator is taken as the object of study,and the characteristics of the mechanism are analyzed and researched,providing the references for the practical application of the manipulator.The main contents are as follows:Firstly,the Delta parallel manipulator was properly simplified and the positive and inverse kinematics solution of the manipulator were obtained by using of the analytical method.On this basis,the Jacobian matrix and velocity model of the manipulator were deduced,and further analysed and discussed the possibly singular position of the manipulator.Based on the positive solution of kinematics,the working space of the manipulator was analyzed,and the correctness of the above analysis were verified by computer simulation;Secondly,the trajectory and path planning of the Delta parallel manual platform was analyzed and studied.The advantages and disadvantages of the three acceleration curves were compared.The trajectory of the manipulator was planned based on the modified trapezoidal rule.The simulation results shows that the manipulator is moving smooth and can meet the requirement by using of the modified trapezoid rule;Then,the rigid body inverse dynamics model of the Delta parallel manipulator was established by using of the principle of virtual work.The static and dynamic characteristics of the manipulator were analysised by using of the finite element analysis software,finding the weak link which affects the performance of the manipulator,which lays the foundation for the next research;Finally,the rigid and flexible virtual prototype model of the Delta parallel manipulator were established by using ADAMS and ANSYS.Aiming at the common "gate" movement trajectory of the manipulator,the dynamic characteristics of the driving motor and the positioning accuracy of the moving platform were analyzed when the manipulator is in the rigid body model and the rigid-flexible coupling model.According to the requirement of the specific workspace,the size parameters of the follower arm was optimize analysised.Under the guidance of the economic design idea,the optimal size parameters of the manipulator were obtained,which provides the references for practical application of the manipulator.