The Structure Character Analysis and Simulation on A Kind of 3-PUU Parallel Robot

摘要

In the past years,the parallel robot has been developed rapidly and been used widely in some field because its merits such as high stiffness,good dynamic character and simplicity in structure.Meeting the need of special purposes,there is more and more research on the domain of little degree of freedom.3-PUU is one kind of little degree of freedom parallel robot.By the research on topology structure of 3-PUU,author designed a kind of 3-PUU robot which have complete three translational degree of freedoms in theory,and the mathematical model of robot was built.With the model,direct solution and inverse solution of kinematics equation was deduced,the character of velocity,acceleration and statics were analyzed,and the work space,singular position,passive joint were considered.Through the visual displaying of work space,the structure character mentioned above could be simulated,so optimized structure parameters could be achieved ultimately.By the merit of easily being combined with serial parts such as rotational jib,author designed a structure plan of five degree serial-parallel milling machine tool based on the 3-PUU parallel robot.In this paper the method of virtual prototype was embodied,and the prototype of machine tool designed by software SolidWorks was guided into software ADAMS for simulation.Through simulation,the validity and rationality of mechanical design and structure character were confirmed.