The development of virtual conceptual design platform and the simulating verification of kinamatic properties for parallel manipulators (PM)

A design process of PM virtual conceptual design is put forward, and a design platform of PM virtual prototype is developed based on ADAMS; by analyzing topological structure and classifying the functional module of the existing PM, a modular component base are built. The management of component base and virtual assembly of PM are realized. A method to analyze kinematic properties of PM is introduced by taking screw theory as guidance and taking virtual prototype technology as verifying tool. With the method, DOFs of PM are vividly depicted, rationalities of actuation scheme are judged and configuration synthesis of PM is realized.