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A novel computer aided geometry approach for type synthesis and analysis of new spatial 4-DOF parallel manipulators is put forward, and create the computer simulation mechanisms of parallel manipulators using the geometric constraints and dimension driving techniques in CAD software, Based on the computer simulation mechanisms of parallel manipulators, several new spatial 4-DOF parallel manipulators are synthesized, the kinematic characteristics of the moving platforms are analyzed by computer simulation. The results of computer simulation prove that the computer aided geometric approach for solving type synthesis and kinematic analysis is not only fairly quick and straightforward, but also has the advantages of accuracy.

Gear box in caterpillar is designed with the static strength theory. While the dynamic characteristics of planetary parts in different working condition is difficult to obtain with the limit of traditional method, so research on reliability and fatigue life prediction of gear box is very difficulty which result that designed life is much longer than practical life. The reliability of caterpillar is affected deeply. The dynamic loads suffered by gear box in different working condition is obtained based on running simulation with MSC.ATV, and then the fatigue life of planetary frame is calculated with fatigue life prediction system of gear box. The study case prove the new method is feasible.

Planetary cage in caterpillar is designed with the static strength theory. While the dynamic characteristics of planetary parts in different working condition is difficult to obtain with the limit of traditional method, so research on reliability and fatigue life prediction of planetary cage is very difficulty which result that designed life is much longer than practical life. The reliability of caterpillar is affected deeply. The dynamic loads suffered by planetary cage in different working condition is obtained based on running simulation with MSC.ATV, and then the fatigue life of planetary frame is calculated with fatigue life prediction system of planetary cage. The study case proves the new method is feasible. Research on planetary cage in caterpillar based on running simulation test resolve not only the technical problem of loads in different work condition but also close connection with engineer, so the research have very important utility significance.

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