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Kinematics Simulation of a New 3P-1R Parallel Mechanism Based on Virtual Prototype Technology

Zhang Qing-gong

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Abstract

A new 4-DOF parallel robot mechanism with 3-translation and 1-rotation was constructed with structure theory principle of single-opened-chain parallel robot.The 3D parametric model of the new 3P-1R parallel mechanism was established by CAXA solid design software.Data exchange between CAXA and ADAMS was completed.The virtual prototype of the 3P-1R parallel mechanism was constructed in ADAMS.The kinematics simulation of the virtual prototype was realized.The conclusion shows that the construction of the 3P-1R parallel mechanism is reasonable and that the kinematics simulation is credible thus lays the foundation for the trial-manufacture of the new 3P-1R parallel mechanism.

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What this paper is about

A new 4-DOF parallel robot mechanism with 3-translation and 1-rotation was constructed with structure theory principle of single-opened-chain parallel robot.The 3D parametric model of the new 3P-1R parallel mechanism was established by CAXA solid design software.Data exchange between CAXA and ADAMS was completed.The virtual prototype of the 3P-1R parallel mechanism was constructed in ADAMS.The kinematics simulation of the virtual prototype was realized.The conclusion shows that the construction of the 3P-1R parallel mechanism is reasonable and that the kinematics simulation is credible thus lays the foundation for the trial-manufacture of the new 3P-1R parallel mechanism.

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Available abstract

A new 4-DOF parallel robot mechanism with 3-translation and 1-rotation was constructed with structure theory principle of single-opened-chain parallel robot.The 3D parametric model of the new 3P-1R parallel mechanism was established by CAXA solid design software.Data exchange between CAXA and ADAMS was completed.The virtual prototype of the 3P-1R parallel mechanism was constructed in ADAMS.The kinematics simulation of the virtual prototype was realized.The conclusion shows that the construction of the 3P-1R parallel mechanism is reasonable and that the kinematics simulation is credible thus lays the foundation for the trial-manufacture of the new 3P-1R parallel mechanism.

Key concepts: Mechanism (biology), Kinematics, Parallel manipulator, Computer science, Rotation (mathematics), Translation (biology), Simulation, Software

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