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2010•Journal of Zhejiang Sci-Tech UniversityRequires access

Kinematics Simulation of 3-PRRU Parallel Mechanisms Based on COSMOSMotion

HU Xu-dong

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Abstract

In order to achieve visualization of motion planning of 3-PRRU parallel manipulator,the inverse solution of the 3-PRRU parallel mechanism is formulated by using the theory of kinematics of the parallel mechanism,then the movement trajectories of the end of the tool fixed on movable platform of the parallel mechanism is deduced.The virtual prototype of this mechanism is created in SolidWorks software,and the Kinematics is simulated with COSMOSMotion software integrated on SolidWorks.The result of simulation verifies the correctness of theoretical analysis and supplies the frame of reference for trajectory planning and structural optimization.

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What this paper is about

In order to achieve visualization of motion planning of 3-PRRU parallel manipulator,the inverse solution of the 3-PRRU parallel mechanism is formulated by using the theory of kinematics of the parallel mechanism,then the movement trajectories of the end of the tool fixed on movable platform of the parallel mechanism is deduced.The virtual prototype of this mechanism is created in SolidWorks software,and the Kinematics is simulated with COSMOSMotion software integrated on SolidWorks.The result of simulation verifies the correctness of theoretical analysis and supplies the frame of reference for trajectory planning and structural optimization.

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Available abstract

In order to achieve visualization of motion planning of 3-PRRU parallel manipulator,the inverse solution of the 3-PRRU parallel mechanism is formulated by using the theory of kinematics of the parallel mechanism,then the movement trajectories of the end of the tool fixed on movable platform of the parallel mechanism is deduced.The virtual prototype of this mechanism is created in SolidWorks software,and the Kinematics is simulated with COSMOSMotion software integrated on SolidWorks.The result of simulation verifies the correctness of theoretical analysis and supplies the frame of reference for trajectory planning and structural optimization.

Key concepts: Kinematics, Mechanism (biology), Computer science, Correctness, Inverse kinematics, Software, Trajectory, Parallel manipulator

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