Research Of The 2-DOF Planar Parallel Robot With High-speed/High-Precision

With the quickly development,it is great demand for stroke,speed,acceleration and precision of robot.However,influenced by the inertia and elasticity of its component,friction of joint and transmission clearance,the precision and response frequency of robot is limited. it is necessary to solve following key technology:how to design configuration to improve the response speed and positioning precision of robot and realize high speed/high precision motion.Aim at the demand for high speed/high precision motion position of IC encapsulation domain, a 2-DOF planar parallel robot with high acceleration/high precision is presented:it consists parallel links mechanism with two parallelograms chains,and is drove directly by high performance linear voice motors . The end stage can realized 2-DOF pure translations.This avoids the disadvantages introduced by speed reducer unit,decreased the mass of motion component and improved the stiffness.Therefore the mechanism can get high speed and high precision easily.Firstly,kinematic equations and speed equations is built according to the basic configuration,and the kinematic dexterity and singularity is analyzed based the Jacobian matrix,optimum configuration is obtained.The optimal location and shape of dexterity workspace is obtained.Secondly,Largrange equations are used to build the dynamic model of the robot.Based on the singularity value theory,the velocity characteritics , the acceleration ability and the dynamic manipulability are analyzed.Then optimal dimension design is performed based on the proposed comprehensive performance evaluation index.Thirdly,differential method is used to disparate the pose error from the place error.Error sensitivity evaluation function is built,and error sensitivity analysis is performed.The pose error synthesize is performed based on Monte Carlo method at the currently machining ability.Lastly , basd on the Virtual Prototyping Technology the solid model is established.Then the check of static&motion state interference,kinematic simulation analysis is performed,the result indicates that the Optimal robot have high speed/high precision performance.