| The parallel mechanism is seldom used in tunnel or slope anchoring engineering,(?)it has been widely used in other fields because of its advantages of reliable internal structure,strong load-bearing capacity,small motion error,fast feedback speed and good mechanism performance.Linear moving platform parallel mechanism is a kind of parallel mechanism with special structure.Its moving platform is linear rod,which has good application value and development prospect in the field of bolter rig platform.In this paper,based on 5-SPS parallel mechanism,an innovative design of a bolter rig platform,and its kinematic performance,scale optimization and other aspects of the mechanism were studied.The specific research contents are as follows:(1)Topological structure analysis of 5-SPS parallel mechanism.The research of solving the degree of freedom of the mechanism,judging the negative motion pair,choosing the driving pair and calculating the coupling degree of the mechanism are carried out.(2)Kinematics analysis of 5-SPS parallel mechanism.The inverse solution model of mechanism position was established by space vector analysis method.Matlab software was used to analyze the inverse solution value of the mechanism position,and ADAMS software was used to analyze the theoretical analysis results,the theoretical analysis results and simulation results are completely consistent,so as to prove the correctness of the model.(3)Analysis of workspace and singularity of 5-SPS Parallel Mechanism.Based on kinematic analysis of 5-SPS parallel mechanism,the boundary limit search algorithm was used to obtain the actual workspace of 5-SPS parallel mechanism,and the singularity positions of 5-SPS parallel mechanism were studied.Finally,the dexterity evaluation index is introduced and the dexterity of the mechanism is analyzed deeply.The results show that the mechanism design is reasonable,the motion transfer performance is stable and the dexterity is good in the actual working space.(4)Scale optimization of 5-SPS Parallel Mechanism.On the basis of position analysis,the dimension parameters of 5-SPS parallel mechanism were taken as the main decision variables,and the dimension optimization was realized by using differential evolution algorithm.The optimized workspace and its dexterity distribution were described and compared with those before the optimization.The results show that the optimized workspace and dexterity have been significantly improved,laying a solid foundation for the establishment of the following prototype model.(5)Platform design of bolt drill based on parallel mechanism.The principle prototype design of bolt drill is completed,which lays a foundation for subsequent prototype manufacturing.In this paper,through a series of research on kinematics performance analysis of 5-SPS parallel mechanism,an innovative design of a bolt drill platform,for the manufacture of bolt drill prototype and practical application laid a solid foundation. |
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