Design Theory And Application Technology For The Novel Types Of 6-DOF Orthogonal Parallel Robots

The unique design and analysis for four novel types of 6-DOF 3-dimensional platform parallel robot (3-D PPR) are presented. They are 2-2-2-SPS 3-D PPR, 3-2-1-SPS 3-D PPR, 2-2-2-PSS 3-D PPR and 3-2-1-PSS 3-D PPR. Each 3-D PPR has an orthogonal configuration. At the orthogonal configuration, all of them are characterized by uncoupling deflection. Furthermore, the 2-2-2-SPS 3-D PPR and the 2-2-2-PSS 3-D PPR are characterized by mechanics and kinematics isotropy. These properties make them particularly suitable for certain applications in 6-DOF micromanipulators and 6-axis force robot's transducers.Two novel 6-DOF parallel micromanipulators (6-DOF PMs) based on the 2-2-2-PSS 3-D PPR and the 3-2-1-PSS 3-D PPR are presented, respectively. Their direct and inverse displacement equations are derived explicitly and their properties of the micro-displacements transmission, the motion transmission and the static force transmission and the relationships between the properties and the link lengths are analyzed, which is significant for the architecture design and the selection of the actuators of the micromanipulators. In the micromanipulators, flexure hinges and flexible frames are used to replace real spherical joints and prismatic joints, respectively. The micromanipulators are manufactured from one single solid. The resulting monolithic structure produces the micromanipulators with high resolution, decoupling micro-displacements, simple algorithm and control.To the problem that the isotropy and the technological efficiency of the parallel kinematic machine based on Stewart platform are not satisfactory, a novel architecture of 6-DOF 3-dimensional platform parallel kinematic machine (6-DOF 3-D PPKM) based on the 2-2-2-SPS 3-D PPR is presented. The technological efficiency of design of the parallel kinematic machine is analyzed. Its workspace and the effect of design parameters to the workspace volume are studied. By using the submatrices of Jacobian matrix and force Jacobian matrix, the kinematics/mechanics transmission isotropic indices, kinematics transmission indices, load-bearing capacity indices at any configuration of the parallel kinematic machine are proposed, respectively. By using me submatrices of the flexibility matrix, the force-translation flexibility index, the force-rotation flexibility index, the moment-rotation flexibility index and the moment-translation flexibility index at any configuration of the parallel kinematic machine are proposed, respectively. Each submatrix consists of elements having same dimension. The distributions of the indices in constant-orientation workspace are presented.The glob kinematics/mechanics transmission isotropic indices, glob kinematics transmission indices, glob load-bearing capacity indices and glob flexibility indices of the parallel kinematic machine are proposed. The relationships between the glob indices and the link lengths of the parallel kinematic machine are analyzed within the geometric model of the solution space defined by us. The index atlases are presented. By using fuzzy information processing technology, the fuzzy decision method based on the atlases for thelink lengths setting is researched. In this method, all the possible link lengths selected are analyzed scientifically and compared quantitatively, which makes the decision of the link lengths even more rational. The method provides a new way for the computer-aide glob optimal design of parallel kinematic machines.The design and analysis for three novel types of 6-axis robot's finger/wrist force transducer (6-A RF/WFT) with parallel architecture are presented. They are the isotropic 6-A RWFT based on the 2-2-2-SPS 3-D PPR's orthogonal configuration, the 6-axis robot's wrist force transducer (6-A RWFT) based on the 3-2-1-SPS 3-D PPR's orthogonal configuration and the 6-A RF/WFT based on the mechanism of the Stewart with equal platforms. The research on design theory of the force transducer based on the mechanism of the Stewart with equal platforms is presented. Several 6-A RFAVFT prototype...