Dynamic Design Theory And Methodology Of The High-speed And Light-weight Parallel Robot

This dissertation deals with the dynamic design theory and methodology for the 2-DOF high speed parallel robot, including performance analysis, dynamics dimensional synthesis, flexible dynamics formulation and analysis, dynamic design and prototype testing. The following contributions have been made.The problem of the condition number for the performance analysis of the out-parallel actuated mechanism is discussed. It is shown that the condition number of the Jacobi matrix can not measure the distance from an inverse singular configuration for the Diamond robot. Similar condition occurs when the condition number of the hybrid dynamic matrix of the system D is taken as the dynamic performance index. The reason is that only the shape aberration of the generalized ellipsoid transforming from the joint space into the operation space is included in the condition number while the volume change is not included.A new dynamic performance index—the maximum singular of the hybrid dynamic matrix of the chain Di is presented and the physical meaning is the maximum value of the maximum driving torque of the ith actuated joint in the workspace, which is required for producing a unit acceleration of the end-effector. It is also shown that the maximum singular values of D and Di are equivalent when measuring the distance from a singular configuration.A methodology of the dimension synthesis based on the above rigid dynamics performance index is proposed. The object is to make the new performance index minimized. The inertia of the motor is considered in the process of the dimension synthesis. Finally the check analysis of the parameters of the motor is done.The kineto-elastodynamic model of the novel flexible parallel robot is developed by virtue of the substructure synthesis and the finite element method. With the model, the dynamic characteristics and its sensitivity analysis are investigated. The LMS modal testing system is adopted to test the dynamics characteristics of the prototype.