Analysis And Design Of Robot Spherical Joint Module With Driving

The thesis focuses on analysis and design of robot spherical joint module with driving around whose function aims. Firstly, based on the Single Opened Chain (SOC) theory, structural syntheses of three-degree-of-freedom spherical parallel mechanisms have been researched and one hundred forty-five kinds of mechanisms, of which twenty-three kinds are new, have been synthesized.Secondly, five optimal selective criterions have been proposed with robot spherical joint module function aims. 3-RRR spherical parallel mechanism, of which the direct and inverse kinematics has been analyzed, has been used for spherical joint module by five optimal selective criterions.Thirdly, the workspace of robot spherical joint module has been defined and a new method of solving the workspace area of spherical mechanism has been proposed. The relationships between the structure parameters and the workspace of robot spherical joint module have been further researched and three important conclusions have been found.Finally, the velocity, acceleration and static analysis of robot spherical joint module have been solved. A global motion property fluctuation index has been proposed as another index for evaluating the properties of spherical joint module based on the global condition index. Parameters scale comprehensions have been analyzed by using the isotropic condition at the original configuration and the two global indexes at common workspace, which reduce the difficulty of original problem and improve the efficiency of optimization. And a group of structural parameters have been obtained by optimizations, which meet the function aims of robot spherical joint module with driving.