Analysys Of Mechanisms And Simulation Of 3-RPS+RP 5-DOF Hybrid Robotic Arm

To satisfy the requirement of the table tennis robot, a novel hybrid robotic arm is put forward, which integrates high rigidity, high precision, high velocity and low inertia of parallel mechanism with large workspace and good dexterity of serial mechanism. This paper focuses on the theory of mechanisms and simulation of the robotic arm. The main contributions are as follows:Based on 3-RPS parallel mechanism, a novel 3-RPS+RP 5-DOF hybrid robotic arm is designed. The kinematics is analyzed with D-H parameters and Euler angle X-Y-Z. The forward and inverse solutions of the position and velocity are deduced. The symmetry of 3-RPS parallel mechanism is proved. A feasible scheme is brought forword to measure the pose of 3-RPS parallel mechanism.The kinematic performances of the robotic arm are analyzed. By using the limited boundary method, the 3-D workspace of the robotic arm is searched and presented visually. With the condition number of the jacobian matrix, the dexterity of the robotic arm is researched and its distribution is presented. The influences of structural and pose parameters on the dexterity are analyzed.The statics of the robotic arm is analyzed. The static balance equation is established and the force jacobian matrix is obtained. The mapping relationship between the external force and the driving force and the constraint force is determined. The velocity mapping is in contraposition with the force mapping.By means of SolidWorks and ADAMS, the virtual prototype of the robotic arm is modeled. The kinematic and dynamic simulations are performed based on the trajectory planning. The theoretical results are verified in effect. It will lay a reliable foundation for the design and motion control of the robotic arm.