Research And Development Of 3-UPU Parallel Experiment Platform

Most of traditional mechanisms are in series.They have their own advantages,but there are also some disadvantages.Parallel mechanism was well to solve some problems of the serial mechanism.In some applications,however,not all of the six degrees of freedom are used.So less degrees of freedom parallel mechanism got the attention of many scholars,becoming a hot spot of research.Three degrees of freedom translational parallel mechanism is used very widely.In this paper,we study a kind of three degrees of freedom translational parallel test bench which is based on the 3-UPU parallel mechanism.Mainly carries on the design of body structure and the man-machine interface of control system.Firstly,based on the screw theory to calculate the degrees of freedom.Then established the position vector equation according to the structure characteristic and the connection mode of parallel mechanism,derived location positive solutions and inverse solution.Analyzed performance index of this mechanism,and then finished specific parameters optimization.Finally,obtained the parameters of the test bench.Additionally,finished the structure design of the parallel test bench.Designed a 3 D Modeling of this parallel test bench by Pro/E,and then imported it into the ADAMS finished the motion simulation analysis to verify the validity of the theoretical derivation and structure design.Based on the theoretical formula and analysis of the motion simulation,designed and manufactured the practical parallel test bench.Finally,finished the PC software design of the parallel test bench,using the MFC class library of Visual C++ 6.0 to design MHI.Through the interface to realize the movement of the test bench condition monitoring and real-time operation etc.Mainly be responsible for the monitoring of the motor motion state,the choice of operation function and parameter setting,etc.Establish a communication between PC machine and PMAC card.After finished the specific job,installed and debugged the test bench.Control the test bench to finish simple operation.The final result show that the theoretical derivation and structure design are all right,control system software design is reasonable,reached the stage of studying target.