The establishment and simulation of the parallel mechanism virtual prototype

By using 3-TPT parallel mechanism for the study,the positive solutions and negative solutions of the kinematics equations were established.And then the negative solutions of the kinematics were simulated by using LabVIEW and MATLAB software and the theoretical curves of rod length could be got.The parallel mechanism virtual prototype was established and its movement was simulated in ADAMS/View environment.From the results,the curves of rod length could be got.By comparing with the theoretical curves,the negative solutions of the kinematics equations are proved to be right.And it also indicates that the stationarity is well when the mechanism moves in space.In addition,complex mathematical modeling and derivation could be avoided by using virtual prototyping technology to study the parallel machine tool kinematics.Thus the workload of the kinematic analysis is reduced greatly.