Algorithms Research On Safty Mechanism Of 6-Dof Parallel Robot

Because of the merits of high structural stiffness, small motion inertia, high kinematic precision and so on, the parallel robot has obtained the more and more widespread application; but the parallel robot has also the unsafe factors like kinematic singularity, link interference, joint restriction and so on. These will induce that the parallel robot mechanism is destroyed. This paper studies the algorithms on the safety mechanism of the parallel robot on these problems on safety.At first, this article establishes the reference coordinate system and the moving axes, gives the system description method of the parallel robot under these two coordinate systems, and defines the structure parameter of the parallel robot. On this foundation, the math models of the forward solution and inverse solution about position is established.Next, the constraint check algorithm on the safety mechanism of the parallel robot is studied. The mapping relations matrix from the position and posture's derivative with respect to time to the link speed is inferred, and the forward solution algorithm with the inverse solution iteration is established; The mechanism kinematic singularity of the parallel robot is researched, a simple method using vector on platform's speed to determinate whether the mechanical Jacobian matrix is singular is proposed; The link interfere situation of the parallel robot is studied, the interfere-check algorithm is established; The limiting states of the position and posture is studied, and 16 kind of limiting states of the parallel robot with six degrees of freedom and semi-symmetric structure are discovered.Finally, the synthesis algorithm on the safety mechanism of the parallel robot is studied. The algorithm to seek link security travel and the ability of the position and posture is established by borrowing the thought of dichotomy; the curve on the relationship between the posture ability and the structural parameter is obtained; the synthesis algorithm on the safety mechanism of the parallel robot is established on this foundation, and the algorithm is divided different module...