Design And Analysis Of Vibration Damping Device Based On Parallel Mechanism

With the development of robot technology,the performances of robots are becoming more and more powerful.However,the vibration problem of the robots is also becoming more serious with the lightweight design.When the mobile robot encounters sudden start and stop,uneven road excitation and carrying heavy load,the road vibration that cannot be ignored will seriously affect the robot's end working accuracy.In this paper,a vibration damping device based on parallel mechanism is proposed,this vibration damping device installed between mobile vehicle and manipulator will reduce the vibration of the end of robot from an uneven road.This thesis mainly researches the vibration damping device as follows:Firstly,according to the selection principle of vibration damping device,the structure design of a 6-SPS Stewart parallel mechanism is proposed and it meets the vibration damping requirement.A three-dimensional model of this vibration damping device is developed.Secondly,the kinematic analysis and simulation of the vibration damping device are carried out.The kinematic inverse solution of the parallel mechanism is obtained by using the closed loop vector method.And the workspace is analyzed.Based on ADAMS and MATLAB software,the kinematic numerical simulation of the vibration damping device is completed,which verifies the correctness of the theoretical model.Then,the dynamic analysis and simulation of the vibration damping device are carried out.The dynamic equations of each leg,the moving platform and the whole vibration damping device are established by Newton-Euler method respectively.Based on ADAMS software,the dynamic simulation of the vibration damping device is accomplished,which verifies the rationality of the mechanism design of the theoretical model.At last,the experimental research on the prototype of the vibration damping device has been preliminarily carried out.The experimental prototype is manufactured and the vibration reduction principle is analyzed,an overall control scheme is proposed.The natural frequency theoretical analysis is accomplished based on ANASY software,and the natural frequency experiment is completed on the vibration experimental table.The theoretical data has less error than the experimental data,which verifies the correctness of the natural frequency of theoretical simulation.This thesis mainly focuses on the kinematic analysis of the 6-SPS Stewart structure vibration damping device based on parallel mechanism.The experimental prototype is developed.And the natural frequency experiment of the vibration damping device is completed,which lays the foundation for the active control research of the vibration damping device.