Key Technology Research For Prototype Building Of A Parallel Robot With Full Circle Rotation

The dissertation deals with the kinematic analysis, dimensional synthesis, error analysis, tolerance synthesis and kinematic calibration key technologies research of the main parallel part of a new type of picking-up hybrid robot , which lay a theoretical foundation for prototype building of the robot. The following findings have been made:□Based on Vector Chain method, a closed-loop equation of the parallel robot is established, the inverse and forward kinematic analytical model are deduced, And then the singularity analysis is made; After the global average value and global volatility of condition number of velocity Jacobian matrix are taken into consideration, the dimensional synthesis is reduced to a kind of nonlinear constrained optimization problem; Through practical example computing, the dimensional parameters are optimized. Computer simulation results show that the robot has a good overall kinematic performance.□Based on Differentiation theory, the error analysis model is founded, which establishs mapping relationship between the output position and orientation errors and the original error sources. With the error model, computer simulation analysis is made ; With tolerance manufacturing cost as the objective function, the accuracy optimization synthesis model is constructed, and based on genetic algorithm theory, by means of Matlab genetic algorithm toolbox, tolerance optimization computing solution is made. optimization results meet the requirement.□According to the structural characteristics of the robot, a reasonable calibration coordinate system is set; the kinematic model, with error parameters, is set up; the theoretical proof shows that after measuring reference point of the moving platform along the x-axis direction position errors, all the geometric error parameters can be identified. The computer simulation results confirm the correctness and effectiveness of the error calibration method.