Computer Aided for Parallel Robot Simulation Mechanism

A computer-aided geometry approach for solving type design and performance analysis of 4-DOF parallel mechanism is put forward. By using the geometric constraint, the dimension constraint, the dimension equation and the dimension driving techniques of CAD, some simulation mechanisms of the novel 4-DOF parallel robot are created. When the driving dimensions of driving limbs are modified, the configuration of the simulation mechanisms are varied correspondingly, and the kinematic parameters of the moving platform are solved. The equation of forward and inverse displacement is established by the analytical result. The results of computer simulation prove that the computer aided geometric approach is not only fairly quick and straightforward, but also has the advantages of accuracy and repeatability. It also can conducted kinematic analysis of spatial parallel mechanisms without complicated analytics and program.