Structure and machinery simulation of three degrees of freedom parallel pneumatic robot

This study mainly about the structure design and movement simulation of 3 degree of freedom parallel robot, which has cylinder as actuator. Through comparing with the existing delta parallel robot we solve the problem that the mobile platform horizontal direction tilt in the design process. This problem can be solved from two aspects that hardware constraints and software control, hardware aspect is to add auxiliary pole to make mobile platform keeping in the horizontal direction in the whole course of the motion, the software aspect is to make cylinder´ speed adapting each other to ensure mobile platform in the horizontal direction through software design. This study mainly about the structure design and movement simulation of 3 degree of freedom parallel robot, which has cylinder as actuator. Through comparing with the existing delta parallel robot we solve the problem that the mobile platform horizontal direction tilt in the design process. This problem can be solved from two aspects that hardware constraints and software control, hardware aspect is to add auxiliary pole to make mobile platform keeping in the horizontal direction in the whole course of the motion, the software aspect is to make cylinder´ speed adapting each other to ensure mobile platform in the horizontal direction through software design.