Abstract:The topology design, kinematics and dynamics analysis of parallel mechanism with redundant branches but no parasitic motion were studied, and finally a conceptual application scenario was put forward based on the advantages of the mechanism itself. Firstly, a parallel robot with redundant branches but no parasitic motion was designed by using the type synthesis theory based on position and direction characteristics. The robot can realize translation in two directions and rotation in one direction. After topological analysis of the mechanism, it was found that the output motion of the mechanism met the expected design requirements, and it had partial motion decoupling characteristics, so it was easy to control the output of the moving platform through the driving pair. Secondly, the forward kinematics and inverse kinematics of the mechanism were obtained by using the kinematics modeling method based on topological characteristics. The singularity of the mechanism was analyzed by inverse solution, and the workspace was determined by positive position solution. In addition, the ordered single open chain method based on virtual work principle was used to model the dynamics of the mechanism. By solving the model, the driving force of driving joints on the static platform and the binding force at the joints connected by two sub-kinematic chains (SKC) were obtained. The simulation values of these two forces were obtained in the simulation software and compared. The results showed that the error between the simulation values and the theoretical values was small, so it was considered that the dynamic model established by the ordered single open chain method was correct. Finally, combined with the existing improvement of the moving target in shooting training, the conceptual design of parallel mechanism for military training application scenarios was given.
