Jixie chuandong (Sep 2021)
Analysis of Pose and Workspace Characteristic of 5-DOF Parallel Robot
Abstract
Aiming at the problems of low rigidity， large accumulated error， and limited high-speed and heavy load in the application of serial robots in the constant force grinding processing industry， a five-degree-of-freedom parallel robot composed of 4-UPS/PPS composed of four sets of the same UPS drive branch chain and one PPS restraint branch chain is proposed， the robot movement in two-dimensional plane and rotation in three-dimensional space are realized. The X-direction constraint degrees of freedom of robot is analyzed through the DH parameter method， the mapping relationship between the moving platform pose and the driving branch is determined according to the robot kinematics inverse solution equation. The robot workspace constraint equation and objective function equation are established， the tool end space pose are analyze， and spatial scatter diagrams and three-dimensional diagrams are drawn. By using Adams simulation software to compare the numerical solution and the simulation solution analysis curve， it can be seen that the robot driving branch runs smoothly and the theoretical analysis is correct. It also provides a theoretical and technical basis for the practical application of parallel robots in the field of constant force grinding.
