The Scheme Innovation Of The Hybrid Carrying Robot And The Kinematics Analysis Of It Parallel Mechanism

The paper mainly studies the parallel mechanism, whole scheme design of the robot, kinematics solution of the parallel mechanism and so on, aiming at the hybrid carrying robot. This paper analyses a planar 2DOF parallel mechanism, puts forward a new planar 3DOF parallel mechanism and probes in the kinematics and mechanical design of these two mechanisms including the positive position solution, the inverse position solution, velocity Jacobian matrix, singularity positions, workspace and the dexterity index and so on after fully dissertating research status of the mechanism and the design of lack-DOF parallel mechanisms in abroad and home. This paper also investigates the dimension synthesis based on the workspace and the dexterity index. The movement-function innovative methods and structure design is studied and the mathematical model concerning the carrying robot, part and surroundings is constructed. The basic movement-function scheme is got by analyzing the feature of matrix WTP and the extend movement scheme is got by variation design. A 4DOF hybrid carrying robot is designed using the method above. At last, the paper studies the positive position solution, the inverse position solution, the passive joint solution and the workspace simulation analysis of the parallel mechanism in the 4DOF hybrid carrying robot.