| Robots play a very important role in today’s life and production.However,due to the limitations of series robots,parallel robots have gradually become the focus of research.There are many successful applications of parallel robots: industrial robots,sorting robots,medical robots,and spatial locators,and more.The research on parallel mechanism mainly includes several aspects such as kinematics analysis,dynamic analysis,working space,singular configuration,scale synthesis and parameter optimization.The research object of this article is a 3-degree-of-freedom 2-RRU&RSR parallel mechanism which has one translational and two rotational degrees of freedom.For this mechanism,this paper analyzes the kinematics forward and inverse solution equations,working space,and singular configuration,and finally optimizes the parameters of the mechanism.(1)The research background,purpose and significance of the subject are explained,the current research on parallel mechanisms with less degrees of freedom is summarized,and the current domestic and foreign research status of 2R1 T parallel mechanisms is analyzed.(2)The structure of 2-RRU & RSR parallel mechanism is described a composition,to solve the theoretical number based on the coil DOF parallel mechanism,the finally obtained motion platform means having a space for moving and two rotational degrees of freedom.Then,according to the structure relationship of the mechanism in the general state,the kinematics equations and the forward and inverse solutions of the position of the mechanism are obtained using the space vector method.(3)Based on its kinematics analysis and calculation,the singular configuration of2-RRU&RSR parallel mechanism is solved.At the same time,MATLAB software is used to program and draw out the workspace of the parallel mechanism with given parameters.(4)Based on the design and research function of ADAMS,the simulation curve is drawn,and curve obtained therewith several important performance parameters of the parallel mechanism.Finally,parametric modeling is carried out for the mechanism,and the parameters that have great influence on the objective performance of the mechanism are set as design variables to solve the combination of design variables when the objective performance of the mechanism reaches the optimal level,so as to achieve the purpose of optimal design. |
