6-PUS并联运动模拟器设计及工作空间分析OA

A 6-PUS parallel motion simulator is designed to meet the high dynamic and high precision requirements of single and multi-degree-of-freedom coupling motion.Its structural characteristics of 6-PUS are described,its forward and inverse kinematics model is derived based on coordinate transformation and particle swarm optimization algorithm,and the correctness of the model is verified by comparing the calculated values of MATLAB and the simulated values of ADAMS.By combing with model of inverse kinematics and the main constraints of the workspace,Monte Carlo method is used to draw the zero-attitude workspace of the simulator.The results show that 6-PUS parallel motion simulator has good motion performance and application value.