The virtual prototype design of one kind of serial-parallel robot with 3-PUU+2R mechanism

A kind of serial-parallel robot which is based on the mechanism 3-PUU+2R is studied in this paper. This robot has three translating degrees of freedom and two rotating degrees of freedom, and may be used on the accurate orientation occasion. The inverse solution of attitude and position in motion equation have been deduced, so we generating a hybrid robot virtual prototype example. In order to continual analyze character of mechanism, I guide the prototype of the robot into ADAMS software, we set up the simulation model of the movement, and get some experiment results. Comparing the experiment data with the theoretic value and confirm that the validity and rationality of mechanism designing and kinematics analysis.