Dynamics simulation of 3-TPT parallel robot

Abstract

To analyse dynamics characteristics of parallel robot,virtual prototype technology was employed to conduct the dynamics simulation of 3-TPT parallel robot. Using the soft of Pro/Engineer,a 3D substance model of 3-TPT parallel robot was established. Then the model was imported to ADAMS by dint of Mechanism/ Pro,the interface module for Pro/E and ADAMS,and a virtual prototype model of 3-TPT parallel robot was established. According to the structural characteristics of the robot,the driving rod and the restricting kinematics link were simulated. And the dynamics characteristics discipline of the 3-TPTparallel robot was obtained. Virtual prototype technology is a better way to study the dynamics of parallel robot and can provide the reference for the complex dynamics of mechanical problems.