Computer-Aided Modeling of Dynamics of Manipulator-Tripod with Six Degree of Freedom

Abstract

In this paper we consider the class of machine tools with parallel kinematics, which is based on the use of multi-degree of freedom and multi-threaded rod mechanisms. It is shown that one of their methods to increase accuracy and simplify the management of these mechanisms is the kinematic method of group decoupling of movements. The structure of a manipulator-tripod with six degrees of freedom with a group of kinematic decoupling of movements was offer. For the synthesis and mathematical modeling of the manipulator of parallel kinematics is built 3D- model of the robot arm, tripod in the software package Solidworks, which allows you to obtain the necessary design and technological documentation. With SimMechanics CAD translator model is imported into the software package Matlab. In turn, the program MatLab mathematical simulation of the robot arm. With the model are removed data on the position and speed of change in the lengths rods. The general structure of the control mechanism was offered. The data of the mathematical modeling of the dynamics of the manipulator-tripod. The graphs are changing the position coordinates of the working body of the time and position error bars of the manipulator at a time.