Research On Kernel Technology Of A High-speed And Light-weight Parallel Manipulator

This dissertation is focused upon the development of a complete theoreticalpackage in terms of the kinematic analysing, trajectory plannning, solid modeling andkinematic simulating, technical and economical analysing of a novel 2-DOFtranslational parallel robot for high-speed, light-weight and low-cost operations. Thefollowing works have been completed. Based on the architectural characteristics of a novel 2-DOF translationalparallel robot under consideration and according to the vector theory, analyticalrepresentations of inverse and forward kinematics are formulated in conjunctionwith the velocity and acceleration analysis. The grade of influence between the control functions and velocity as well asacceleration is evaluated. Furthermore, with the aid of the technology ofcomputer simulation, the motion rule of modified trapezoidal acceleration isused in trajectory planning. Using CAD/CAM software of the Pro/ENGINEER, the solid model of thetranslational hybrid robot is built, and kinematic simulation is realized in themodel. Utilizing the theory of the technical and economical, four kinds of the modelsare applied to economic evaluation of the Diamond and Detla mechanism. It hasbeen shown that the device is of simple structure, low cost, and excellentperformance.