Type Synthesis Analysis Of Robot Mechanism Based On The Kinematic Element And G_F Set

Research of the robot mechanism type synthesis, being the hotspot for both of the international science and industry fields, is of great theoretic and practical importance. Establishment of the synthesis theory should be based on the exact depiction of the kinematic and constraint characteristics of the robot end-effector, to which so little attention have been paid. Based on the kinematic information implicated in the mechanism, this article makes a thorough study on the robot type synthesis problem from a new view.(1) Kinematic characteristics of the robot mechanism end-effector are researched systematically, and four kinds of kinematic elements are brought forward. They include translational element, rotational element, left screw element and right screw element, which are all basics for constructing the kinematic characteristics of robot mechanism end-effector. By defining the kinematic unit as a group of given kinematic characteristics, eighteen kinematic units, including the translational unit, rotational unit and screw unit etc., are also presented, which are the smallest functional unit of kinematic characteristics of robot mechanism end-effector. All the concepts mentioned above are foundations of the research work here.(2) To denote the synthesization between kinematic units, the addition algorithms are brought forth based on the principle of kinematics. Addition algorithms between translational unit and translational unit, translational unit and rotational unit, rotational unit and rotational unit are all founded. To resolve the common factors between kinematic units, the intersection algorithms are advanced based on ideas of the set theory. Intersection algorithms between translational unit and translational unit, rotational unit and rotational unit are also given. Both of the two algorithms between kinematic units are important theoretical foundations of this research work.(3) Concept of G_F set is put forward to express the kinematic characteristics of robot mechanism end-effector. Robot mechanisms are classified from the view of G_F set and relationships between the kinematic unit, kinematic actual unit and the joints are set up.Methods of design for robot kinematic chains using the actual units and of solving the G_F set expressions for a given kinematic chain are both analyzed in detail.(4) In terms of the kinematic elements and G_F set, two type syntheses for serial robot and for parallel robot are advanced respectively. Type synthesis and kinematic analysis of the robot mechanisms are investigated systematically. Methods of solving the kinematic characteristics of any given serial or parallel robot mechanisms and of design of a certain robot mechanism with given kinematic characteristics are both presented. By combining this theory with industrial practice, a serial of parallel combined forging presses are designed and a kind of multi-pose dextrous welding positioner used for complex workpiece is also presented.