Finite Element Analysis Of Instability To Spreadbands Drive Parallel Robot With Six Degrees Of Freedom

In recent years, Parallel robot is one of the research hot spots in Robotics Field,it gets the extensive application day by day in industry. Now parallel robot is mainly divided into rod-supported and wire-driven parallel manipulator according to the structure types of the Kinematic Chain. Rod-supported parallel manipulator has such priories as high structure stiffness and strong bearing capacity, but it has the disadvantages of small workspace and unable to be driven at singularity point, etc. Wire-driven parallel manipulator has such priories as simple structure, low inertia, large translation workspace, but rope is only able to bear certain pulling force, unable to bear pressure. Spreadbands drive parallel robot use curly cross section strip as driving mode, it can bear both pulling force and pressure, and it has large workspace. This new type spreadbands drive parallel robot widens the application scope of parallel robot.This thesis mainly study the spreadbands drive parallel robot's workspace when bearing a certain amount of load and the buckling critical load that varies with the strip's structure and size, the moving platform's position and orientation. The main research work of this thesis includes:1. The specific structure of spreadbands drive parallel robot with six degrees of freedom is researched.2. Aim at the destabilization of curly cross section thin-walled strip, we give the introduction of structural stability theory, analysis of buckling instability of the type and rule, and the method for buckling analysis in ANSYS software. The method of calculating buckling critical load of open section thin-walled bar as the type of curly cross section strip is given.3. The working principle of spreadbands drive parallel robot is introduced, separately design spreadbands drive parallel robot with wheel device and non-wheel device from the overall, give its corresponding design parameters, detailed design the components of the two kinds of spreadbands drive parallel robot with six degrees of freedom.4. The stress analysis of mathematical model of spreadbands drive parallel robot is established, the conclusion of the change regularity of the strip force with different moving platform size and position and orientation is summarized. Under the situation of different strip's size and the moving platform's position and orientation, we separately analyse the buckling critical loads of abnormal and arc-shaped cross section single strip, two strips connector and spreadbands drive parallel robot composed by six strips, come to a conclusion of the change regularity of the buckling critical load and workspace with a certain amount of load.