The Kinematic Analysis About A New Kind Of 6-dof Parallel Manipulator

Parallel mechanism,which has many advantages of stable structure,high movement accuracy,strong carrying capacity,is an important part of domestic and overseas high technology research.In this paper,a new 6-dof mechanism is put forward.This thesis mainly analyzes the mechanism kinematics.Based on the position reverse solutions the speed of the new organ and the work space have been solved.At the same time,the kinematics structures which affect the work space have been described in the detail.Now we list the main content of the paper:A new 3-CRP_4RRR mechanism with 6 degree of freedom is put forward and designed.The working principle and movement process of the new type 3-CRP4RRR parallel mechanism has been made a brief description.After established an organization entity model,we could analyze the degrees of freedom.At the same time,we could establish institutions kinematics mathematical model,through the closed vector method,the inverse position of new 3-CRP_4RRR parallel mechanism has been solved.And then,on the basis of reverse position solution,a derivative of time,we can get the agency of the speed,at the same time,the velocity jacobian matrix has been organized.On the basis of kinematics analysis,we have solved the work space of the new3-CRP_4RRR parallel mechanism by the means of spherical coordinates.Established the mathematical model of the volume and based on the volume and the height of the work space,we have analyzed the driven bar length and radius size,which influence the shape and the size of space.Under the result of these kinematics parameter,we could provide the reference for the new 3-CRP_4RRR about the performance analysis of parallel mechanism.