Kinematics Simulation on a Kind of Parallel Mechanism

Abstract

The kinematics simulation of 6-PURU parallel mechanism was made based on dynamics simulation analysis software ADAMS, and the simulation method and steps were introduced too. Using UG to establish 6-PURU parallel mechanism soiled model, and the geometry model parasolid format was payloaded to ADAMS environment and established virtual prototyping model, by added some drivers and SPLINE curves, the model was conversed with positive kinematics simulation. This method avoided to establish and solve complex kinematics equations, simplified the design and development work of the parallel robot, but also provided theoretical basis for adjustment and control of prototype.