| This paper presents a kind of 6-DOF parallel posture adjustment platform with low-cost of rotation input,which is characterized by larger travel distance,small motion inertia and can realize 6-DOF movement.Firstly,described the development status and structural characteristics of parallel mechanism,taking 6-RUS parallel posture adjusting platform as carrier to analyze its free degree,at the same time to study the specific analysis idea of the inverse position,and to verify the correctness of the derivation of the inverse position solution by an example of inverse solution.Then to analyze the workspace of 6-DOF parallel posture adjustment platform,and the causes of influence on the workspace of the parallel mechanism were found out,which mainly includes: the size limitation of the mechanism members' length of6-DOF Parallel Posture Adjustment Platform,the limitation of the rotation angle of the kinematic pair of 6-DOF Parallel Platform and the restriction of interference between two adjacent members of mechanism,etc..To obtain the working space diagram of the 6-DOF parallel posture adjustment platform by the search method of polar coordinate variable step iterative.Right after to analyze the static force status of the 6-DOF parallel posture adjustment platform by the method of removing the bar,including static platform force analysis,driving lever force analysis,driven lever force analysis and dynamic platform force analysis.Then,to study the force Jacobian matrix based on the component vector method,and used the principle of virtual work to get the explicit solution.Finally to carry out the prototype structure design of 6-DOF parallel posture adjustment platform,using SolidWorks' s own modeling function to do a series of processes,such as part design,key component design and selection,assembly scheme design,etc.,to realize the virtual simulation of the test prototype finally,the designed6-DOF parallel posture adjustment platform can meet the design intent. |
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