Study On Decoupling Mechanism And Simulation Analysis Of Parallel Mechanism

Mechanization level is an important guarantee to achieve national prosperity,social progress and urban development.The shadow of parallel mechanism can be found in the industrial automatic production line and numerical control machine tool,as well as in the medical robot and the motion simulator.However,the phenomenon of strong coupling of movements often exists in parallel mechanisms,which often leads to some safety accidents in the production of industrial machinery.Therefore,this paper proposes the decoupling theory to eliminate or reduce dangerous and harmful factors from the root cause and avoid the generation of safety accidents,which is of great significance for the safe production of industrial machinery.Based on the principle of sequential single-open-chain method,this paper analyzes the topological structure of the parallel mechanism and decomposes the parallel mechanism into different SOC loops when the constraint values are positive,negative and zero respectively,the orientation characteristic equation can be used to judge the motion mode of the moving platform of the parallel mechanism,and the decoupling theory of the parallel mechanism can be proposed to realize the transformation from structural coupling to structural decoupling.The motion condition of rotation and translation of parallel mechanism,the space arrangement of kinematic pairs and the selection principle of driving pairs are put forward,which provides a theoretical basis for the branch chain motion mode and the selection of kinematic pairs of subsequent decoupled parallel mechanism.In this paper,the constraint degree,coupling degree,SOC determination and POC set equation of 3-RRR planar parallel mechanism with high coupling and low coupling are systematically analyzed,it includes position,velocity,acceleration and singularity analysis.The results are respectively verified by 3-RRR positive solution analysis of high coupling and low coupling.The 3D dynamic model of the mechanism was based on Solid Work software which was imported into Adams software added restriction and drive and simulated,then the velocity and acceleration curves of the mechanism were obtained,the post-processing module of Adams can assist the kinematics analysis of the parallel mechanism with the data visualization of the simulation process,and form a complete theoretical system of decoupling parallel mechanism kinematics.