Kinematic displacements control simulation and configuration optimizing of six DOFs parallel mechanism for wind tunnel experimental platform
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Abstract:
6PUUS parallel mechanism for wind tunnel experimental platform is studied，and its operational principle and movement requirements are analyzed. According to the theory of inverse kinematics and spatial Descartes coordinate transformation of 6PUUS parallel mechanism，kinematic positions of pull rods and kinematic interpolation paths of sliders are derived base on Euler angle of any experimental pose. The detailed algorithm for spatial position interpolation is summarized and its validity is proved by a simulation case in the end. Key factors of nonoccurrence of sliders collision at work are concluded by means of simulation analysis，and combined with the variety of mechanism parameters，optimized size parameters of pull rods and movable platform are also found. It is proved that this method and the simulation algorithm are useful and helpful for the optimizing design and singularity poses analysis of the parallel mechanism.
