| The parallel manipulator(PM)with three translational and one rotational degrees of freedom has a broad application prospect in the field of industrial manufacturing,such as product sorting,packaging,painting,etc.In this paper,the kinematic analysis,performance analysis,size optimization,statics and dynamics analysis of the spatial passive overconstrained 4-RPTR PM with four degrees of freedom of three movements and one rotation are studied:The structure diagram and three-dimensional model of 4-RPTR PM are established.Based on the loop vector method,the inverse solution,velocity and acceleration model of 4-RPTR overconstrained PM are established,and the simulation verification is carried out by using ADAMS and MATLAB software respectively.Based on the workspace search method,the reachable workspace is drawn.The performance of 4-RPTR PM is analyzed and evaluated by using the motion / force transmission index and motion / force constraint index,and the performance maps of LTI and TCI of the PM are drawn.Based on the motion / force transmission index and motion / force constraint index,the dimensionless parameters of the PM are used to optimize the size of the PM,the performance map of the PM in the two-dimensional optimization space is drawn,a group of sizes with better performance are obtained.According to the optimized size,the 3D model of 4-RPTR PM is redrawn.On the premise of using Newton Euler method to establish the statics model,a method of supplementing deformation coordination equation of spatial overconstrained PM is proposed by analyzing the causes of overconstrained PM.Based on this method,the statics model of the PM is established.Based on the proposed method of supplementing deformation coordination equation,Newton Euler method is used to establish the dynamic model of the PM,use MATLAB software and ADAMS software to simulate and verify the correctness of the dynamic model. |
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