Jixie chuandong (Jan 2022)
Kinematics and Workspace Analysis of 2P3R Robot
Abstract
In light of low efficiency，uneven quality and high labor intensity in manual grinding large marine propeller blades in enterprises，a 2P3R type 5-DOF industrial robot for processing large marine propeller blades is proposed and its complete model is established. Taking the end-effector into account，the forward kinematics mathematical model of the robot is established by using an improved D-H method and the forward kinematics equation is obtained. Based on the Monte Carlo method，in the Matlab environment，the robot workspace is solved by using the robot toolbox，and the point cloud of the reachable workspace of the end cutter of the robot is depicted. Through the comparison of surface fitting and spatial inclusion，the results show that the designed 2P3R type 5-DOF industrial robot can achieve full coverage of the upper surface of a single blade of a large marine propeller with a diameter of 4~10 m，which lays a foundation for subsequent research on motion control and path planning of large propeller processing robots.
