Design And Development Of A Serial-Parallel Structured Robot For Teaching

This dissertation is focused on the development of low cost educational serial-parallel structured robot, which is refer to the work of national "863"High-TechProject and patent to meet the need of the reformation of the occupation education.The following works have been completed.Firstly a teaching experiment request is presented.On the basis of which theoverall project is designed. Secondly the model of parallel robot's forward and inversekinematics have been set up with the adoption of scalar quantity, which will lay thefoundation for the development of CNC system. the topic of dimensional synthesis isa class of constrained nonlinear programming problem. Considering the relationshipof global and comprehensive performance index which has paid attention to both themean value and range of the condition number of Jacobian matrix in the taskworkspace and a set of appropriate constraints has been considered in terms of theforce transmission behavior, the workspace/machine volume ratio, and the feasibilityin practical implementation.The static and dynamics stiffness are analyzed when themoving plate is arbitrarily set in different positions in the working space by means ofthe commercial software ANSYS. Since the stiffness in the direction perpendicular tothe working plane is rather lower than the other two orthogonal directions, somemethods are presented to improve the stiffness. These methods have been successfullyapplied to the development of the robot. Finally with the aid of the dynamic model ofthe robot ,an approach to estimate the servo motor parameters is adopted using thesingular value decomposition technique. The relation for the mapping functionbetween the maximum value of joint variables and the unit operation variables hasbeen founded up. And the servo motor parameters are estimated.