三自由度并联机器人机构设计

Abstract3-DOF parallel robot is a complicated nonlinear system in substanceand has multiple variables.And its kinematics and dynamics analysis isthe precondition of the parallel robot's structure design and hydraulicsystem design.In this paper the kinematics analysis is carried out bycoordinate transformation and differentiation firstly.Then build asingle rigid body dynamics model based on the Newton-Euler method withoutconsidering each folding and leg's mass and inertia.This paper alsodesign hydraulic power mechanism base on the kinematics and dynamics.Andgive the hydraulic cylinder's load matching curves in the basic workingconditions.The control strategy of 3-DOF parallel robot is another importantresearch field,and the final performance of 3-DOF the parallel robot isimmediately determined by the control system.This paper build thetransfer function Mathematical expression of asymmetry cylindercontrolled by symmetry valve system.Then design a simple PID regulatorfor the control system,and make a preliminary analysis on thecharacteristics of the control system.To validate the feasibility ofbuilding the prototype,a virtual prototype of it is established usingADAMS,and then make a co-simulation with Matlab/simulink to verify thekinematics and dynamics.The virtual prototype can simulate the real 3DOFparallel robot exactly,and the results show that the kinematics analysis,dynamics analysis and control system analysis of the parallel robot arecorrect.All these analysis about the parallel robot are useful forresearching the actual tank turret and fire control system test bench.Keywords:3-DOF parallel robot,Kinematics,Dynamics,Co-simulation