Dynamics Analysis of a Novel 3-PSS Parallel Robot Based on Linear Motor

Abstract

The traditional parallel robot based on servo rotating motor runs stable and fast, but it still has the disadvantages of low load capacity and small acceleration. Based on the characteristics of the linear motor such as high load and stable thrust, this paper optimizes the structure of traditional three degrees of freedom (DOF) parallel robot, and obtains a novel 3-Prismatic-Spherical-Spherical parallel robot. The robot has a high speed and heavy load performance with low power consumption. Then, we solved the kinematic and dynamic formulas with screw theory and Kane's Method. Next given the Jacobian matrix. Matlab is used to verify the formulas and given the reachable workspace with the Monte Carlo Method. While verifying performance, a simple trajectory is designed and simulated by Adams. Then we have done many groups of load experiments to verify. The simulation and experimental results show that the payload is 26kg when doing gate- trajectory (25/305/25 mm) motion. It has potential application prospects in the field of high speed and heavy load.

Keywords

• 3-RSS parallel robot
• linear motor
• kinematics
• dynamics
• workspace
• mechanical properties