Kinematics And Mechanics Analysis Of A 4-DOF Parallel Mechanism

As a kind of robot configuration,the parallel mechanism has many advantages,such as no cumulative error,high accuracy,light weight,high speed,good dynamic response,high stiffness and large bearing capacity,etc.It is a research hotspot in the field of robot.Compared with the6-DOF parallel mechanism,the less-DOF parallel mechanism has the advantages of simple structure,large operating space,low cost,high precision,high efficiency and small cumulative position error,etc.,which can be widely used in the sorting,packing and palletizing operations with high accuracy and speed.In this thesis,the kinematics,workspace,singularity,statics and dynamics of the 3T1R4-DOF parallel mechanism are studied.The details are as follows:The configuration of the mechanism was analyzed.Create a physical model in Creo environment and the degree of freedom of the mechanism was analyzed by the modified G-K degree of freedom calculation formula and screw theory.Based on the spatial position vector method,the position equation of the mechanism was established,and the Jacobian matrix of the mechanism was deduced.Then the singularity configuration types of the mechanism can be determined.The kinematics position,velocity and acceleration of the mechanism were verified by MATLAB and ADAMS co-simulation.According to the joint space constraints,the workspace shape of the reachable position of the mechanism was solved,and the influence law of the mechanism parameters on the workspace volume was obtained.The workspace volume was optimized by using the quantum genetic algorithm.The singularity of the parallel mechanism is analyzed by Jacobian matrix.Using ANSYS Workbench,the static analysis and modal analysis of the mechanism are carried out.Lagrange equation was used to complete the dynamics modeling,and the output power and driving force of the motor with or without load were simulated.This paper has 68 pictures,16 tables and 86 references.