| According to the formed 3-DOF translational 3-PRRU parallel robot,this paper presents a new 3-DOF translational 3-PRRRR parallel robot,with simple structure in space and no associated motion.Basing on the structure characteristics of 3-PRRRR three translational parallel robot,using mathematical analysis software matlab and its algorithm toolbox,the theory of kinematics.In addition to theoretical research,using Solidworks in 3D modeling and the plug-in of Motion in kinematics simulation,the new 3-DOF translational 3-PRRRR parallel robot is validated existing rationality and applicability,laid a foundation of the further research of lower-mobility parallel robots.The main works mainly cover the following aspects:The freedom of the new 3-PRRU parallel robot is analyzed through the GrublerKutzbach-formula,simplified its branched chain reasonably,using the D-H method to carried out the 3-PRRRR parallel robot inverse kinematic analysis,and filtered them according to the actual situation to get some groups of inverse solutions which are conformed to the actual requirements.Inverse solutions are verified their correctness with using different example in matlab to simulation calculation.Using the D-H method to establish the new 3-PRRRR parallel robot kinematics equation,according to its kinematics equation,the equations of forward kinematic are formed.The problems of parallel robot forward kinematic is converted to the optimization problems using the genetic algorithm in matlab.The positive solution and inverse solution confirmed each other which proves the advantage of the genetic algorithm in solving this problem and the correctness of the established model of the forward kinematic.According to the structure characteristics of new type 3-PRRRR parallel robot,The Jacobian algebra method has been adopted to analyze the singularity problem of 3-PRRRR parallel robot.Using velocity Jacobian matrix to establish the discriminant of singular configuration of parallel robot,the new 3-PRRRR parallel robot singular type will be reached under what conditions is analyzed.According to the equation of inverse kinematic analysis of the new 3-PRRRR parallel robot,the method of scanning is chose to get the working space.Using the functions of matlab in calculation and drawing,working space is mapped in lattice diagram visually in order to obtain the new 3-PRRRR parallel robot simulation nephogram of working space.And based on the matlab platform,write a GUI,the influence of different size of bar for the new 3-PRRRR parallel robot can be analyzed.The entity 3D model of 3-PRRRR parallel robot is established by SolidWorks.Using the Motion plug-in in SolidWorks for the new 3-PRRRR parallel robot motion simulation.As a result,it validate correctness and rationality of the parallel robot modeling again. |
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