Kinematics simulation and control of  compact 3RRS parallel mechanism

NI Shiquan1,2, TIAN Dapeng1, SHI Lei1

(1.Key Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics,Fine Mechanics and Physics, Chinese Academy of Science, Changchun 130033,China;2.University of Chinese Academy of Sciences, Beijing 100049, China)

Abstract: Aiming at the problem that the external space of the traditional 3RRS parallel mechanism is token up when the active part rotates outside the mechanism during the movement, and the internal space resources of the mechanism is not utilized reasonably, a compact 3RRS parallel mechanism was designed. According to the kinematics of the compact 3RRS parallel mechanism, the kinematics analysis was carried out, and the Simulink/SimMechanics toolbox was built to construct the kinematics simulation platform of the parallel mechanism to verify the kinematics modeling of the mechanism. The control simulation platform of the organization was built in the Simulink/SimMechanics toolbox, and the RMSE was used to judge the advantages and disadvantages of the parallel mechanism control strategy. The simulation results show that when the compact 3RRS parallel mechanism is moving, the active part rotates inside the mechanism and runs smoothly. The center point of the moving platform is continuous and smooth, and the kinematics performance is good.