Synthesis and Analysis of 4-DOF Parallel Manipulators of Computer Aided Geometry Approach

摘要

A novel computer aided geometry approach for type synthesis and analysis of new spatial 4-DOF parallel manipulators is put forward, and create the computer simulation mechanisms of parallel manipulators using the geometric constraints and dimension driving techniques in CAD software, Based on the computer simulation mechanisms of parallel manipulators, several new spatial 4-DOF parallel manipulators are synthesized, the kinematic characteristics of the moving platforms are analyzed by computer simulation. The results of computer simulation prove that the computer aided geometric approach for solving type synthesis and kinematic analysis is not only fairly quick and straightforward, but also has the advantages of accuracy. The robot need some degree of freedom on many occasions, such as two, three, four, or five degrees of freedom is enough to meet the application requirements, such less than six degrees of freedom of the robot is called "less-DOF parallel manipulator ". The less-DOF manipulator has broad application prospects in industrial production and other areas, because of simple structure, low cost. There have been many new models and patents, from the present research situation at home and abroad. Related literatures are merely given a new body, but the systematic and integrated approach is not popular. The movement characteristics of parallel robot have straight relation with assembly mode of kinematic pair each branch chain, so the systematic can't be study simply integrated in the composition according to the principle of space agencies. The practice has shown that the use of a variety of analytical methods of less-DOF parallel robot mechanism is an integrated complex and difficult issue; the computer aided geometric approach can solve type synthesis and kinematic analysis.