Auto-establishing simulation parallel manipulators with linear legs and auto-solving their workspaces by utilizing CAD variation geometry

摘要

A new approach of CAD variation geometry is proposed for automatically establishing the simulation mechanisms of parallel manipulators (PMs) with linear legs, and automatically solving their forward displacements, workspaces, and Euler angles. First, the basic concepts and techniques of the CAD variation geometry are described. Second, a program is developed by utilizing new approach. In the developed software, an interface is constructed for inputting given parameters and outputting solved results of data and graphs, several sub-programs are compiled for automatically establishing various simulation mechanisms, solving the forward displacements, and solving/displaying reachable workspaces and Euler angles of various PMs. Third, the three novel and five existing different PMs are illustrated. When the given parameters of the PMs into the interface are inputted, their simulation mechanisms are established automatically. The displacements, the reachable workspaces, and the Euler angles are solved automatically. Finally, the solved results of the developed software are verified by that of the analytic solutions of several existing PMs and the simulation solutions of several novel PMs.