Design Of 1T3R Parallel Robot And Development Of The Experimental Equipment

As a robot manipulation mechanism,the parallel kinematics robot mechanism which has the outstanding characteristics of high exactitude,high structure rigidity and high speed is widespread concerned by experts domestic and abroad.The research on 3-DOF and 6-DOF parallel robot mechanism take 80 percentage of the total research in recent years while research on 4-DOF and 5-DOF only take 9.5 percentage of the total.Actually,parallel kinematics robot of 4-DOF and 5-DOF has extensive application foreground because of its simple structure,easy manipulation,low cost,and suitability for many tasks requiring less than 6DOF in the engineering application.The research of parallel kinematics robot of 4-DOF and 5-DOF has already become the hotspot in robot research.1T3R 4-DOF parallel kinematics robot has been taken as the research objective.First,the general method of topology structure design of low mobility parallel robot has been used to configure and regroup the branched chains which can be used for design of 1T3R 4-DOF parallel kinematics robot to carry on the symmetry and dissymmetry topology structure design.The text has taken the 1-PS-3-SPS parallel robot which can be applied for PKM and medical equipment,especially for the endoscopic surgery equipment,as the research objective and chosen the number and fixing locations of the drive pairs.Second,a method of searching the total workspace dimension based on the inverse solution equations and the restriction of structure parameters has been used to get the relation between the changes of the structure parameters and total workspace dimension with MATLAB software and a concise outline for1-PS-3-SPS parallel robot structure parameters design has been put forward;a method of searching the agile workspace dimension based on the Jacobean Matrix and the restriction of condition parameters has been used to get the relation between the changes of the structure parameters and agile workspace dimension.Third,the structure parameter proportion which can maximize the workspace dimension has been chosen.According to the design requests of the equipment,the structure design of every part of parallel robot has been carried on and all kinds of problems including problems of uncontrolled DOF,uncontrolled rotation of small struts and contradiction between the rigidity and rotating angle of the spherical joint have been discussed and solved to make sure good working performance from the structure design angle;all parts have...