Kinematic Design And Static Stiffness Analysis Of A Novel 5-Axis Hybrid Reconfigurable Robot

With the aid of the 863 Project, to meet the demand for the manufacturing equipment of multi-axis, multifunction and reconfigurability used in the national automotive industry, this thesis investigates into the design theory and method of the Tricept IV robot——A Novel 5-Axis Hybrid Reconfigurable Robot possessing proprietary intellectual property rights, research contents including inverse position analysis and Jacobian matrix analysis, dimensional synthesis, stiffness modeling and analysis. The following works have been accomplished.1. Inverse position analysis and Jacobian matrix analysis. Referring to the characteristics of the Tricept IV robot, which is decomposed into parallel subsystem and serial subsystem, a method of inverse position analysis considering the performance of stiffness is proposed. The Jacobian matrix of parallel subsystem is formulated using the screw theory and the matrix is simple and has definite physics meaning.2. Dimensional synthesis. A method of dimensional synthesis of the two subsystems respectively is proposed. The effect of the dimensional parameters of the parallel subsystem and the height of subspace to the kinematics performance is investigated by means of monotonic analysis. Dimensional synthesis of the parallel subsystem considered as a problem of nonlinear programming including constraint.3. Stiffness analysis. The stiffness modeling of parallel subsystem and serial subsystem is formulated respectively by using virtual work principle assuming one of them is rigid. The stiffness model of entire system is then achieved by linear superposition. The finite element analysis of the mechanism of representative position in workspace is investigated using Solidworks and ANSYS Workbench software and verify the availability of theory modeling of stiffness.4. Sensitivity analysis. Appropriate stiffness index is selected, and with the aid of the sensitivity analysis and theory modeling of stiffness, the effect of component stiffness and design Variables of dimensional synthesis to stiffness index is investigated and provide a theoretical basis for prototype design of Tricept IV robot.