The Kinematic Analysis and Simulation of 3D Print Parallel Robot Mechanism Based on RecurDyn

摘要

Taking 3-PUU parallel robot manipulator applied in the practical application for 3D printing as the research object,the kinematics analysis of the mechanism was produced. The kinematics inverse solution analysis was deduced by coordinate transformation theory,What's more,the Jacobian matrix that expressed the relationship between the input of the active joint and output of the moving platform velocity vector was derived. The virtual prototype model was established by using 3D modeling software Pro/E,the kinematic simulation analysis was produced by the multi-body dynamics simulation software Recur Dyn,and the theoretical solutions were effectively verified. Through the simulation analysis it can not only provide the correct mathematical model,but also pay the foundation for dynamics analysis and the trajectory planning control and provide the direction of optimization design. This mechanism has a potential application prospect in the fields of medical robots and3 D print.