3rrp平面并联机构的性能分析 word格式.docxVIP

Performance of Planar 3-RRP Parallel Mechanism ABSTRACTBecause of Parallel mechanism has a strong bearing capacity, high stiffness and goodaccuracy performance is widespread concern areas of expertise. Parallel mechanism with few degree not only have the advantages that characterized by all the parallel mechanisms, such as simple structure, low manufacturing cost, easy to implement accurate contro l and other advanteges. Because of these advantages, parallel mechanisms with few degree of freedom attracted wide attention from the field of study parallel mechanisms. This paper selects 3-RRP planar parallel mechanism as a research object, through the establishment of institutional model analysis of the model kinematics, dynamics and mechanism accuracy. Results of their research fill the gaps of 3-RRP planar parallel mechanism while the other performance of the organization provides a theoretical basis for further research.First carries on the kinematics analysis, by using the rotation matrix, obtained model positive and inverse solution. Because of the structural characteristics of parallel mechanism solving the inverse solution, it is easier than positive solution of mechanism position. Therefore, paper attempts using a new intelligent algorithm: BP neural network algorithm, when solving positive solution of mechanism position. Using the software of ADAMS to emulation, we can get the curve of the moving platform, including displacement, velocity and acceleration. Using the positive solution of mechanism position to obtain the Jacobian matrix, through the research of Jacobian matrix we can obtain the singular position of institution.Secondly，to analyze the dynamics of parallel mechanism，the principle of virtual work tosolve the inverse equations of dynamics，while using ADAMS software to simulate the end-effector in the in the case of four different external force，make the comparison of thepower consumption for three driving when end-effector complete 8-shaped traject