Basic Research On Two Novel Hybrid Robots

Industrial robots have become an indispensable component in modern industry. Hybrid robots have attracted a wide spread attention due to the combination of both the advantages of the serial robots and parallel robots. A new type continuous driven hybrid robot and a novel two-state-driven hybrid robot are studied in this dissertation. The main works are as follows:1) An overview of the development and theory research of the robots at home and abroad was given. Also the background and significance of this subject were presented.2) Screw theory was used to analyze the partial freedom of the continuous driven hybrid robot, and the DOF of the whole mechanism could be developed. Based on the forward kinematics solution of the single parallel platform, the forward kinematics of the hybrid robot was set up by using the multiplication of quaternion to represent the series of platforms.3) According to the results of the forward kinematics of the continuous driven hybrid robot,the position and orientation of the end of the robot were represented by the lengths of the six driving legs, and the nonlinear equations were established. Genetic algorithm and iterative method were combined to solve the nonlinear equations. Thus the solution of the inverse kinematics was obtained.4) After certain constraints were given, the structural parameters of the continuous driven hybrid robot were optimized using genetic algorithm. The workspace of the robot was studied with section method.5) The dynamic model of the continuous driven hybrid robot was derived employing Kane method, and a corresponding MATLAB program was compiled for dynamics analysis. The accuracy of the theoretical model was confirmed by a comparison with simulation results of ADAMS. By observing the proportions of the different components in the Kane equation, the secondary factors were ignored to simplify the theoretical dynamic model.6) The forward kinematics of the two-state-driven hybrid robot was analyzed. Exhaustive method and recursive method were used to investigate the workspace of the two-state-driven robot. For the requirements of single-point and multi-point end position, the optimization of the structural parameters was done using genetic algorithm.