| Robot of parallel laser weld have integrated technical advantage of parallel robot, welding robot and aspect of laser weld. It is one of the hotspots of welding technics development and application nowadays. It is also a new developing direction of implementing welding technics automatization. Without question, researching of the robot will have an important strategical significance for manufacturing future.The lower-mobility parallel mechanisms are hot topics in the field of robotics research. A lot of scholars have open out varieties of novel mechanisms. But before they enter into the field of actual engineering applications comprehensive investigations must be done. Under the help of national 863 project financing, this dissertation deals with the theory and methodology for the design of a novel laser welding parallel robot, including conceptual design, kinematics analysis, workspace synthesis and analysis, performance simulation.This dissertation summarizes the theory of configuration synthesis the lower-mobility parallel mechanisms, selecting principle of parallel mechanisms and design of constraint chains. As a result, a novel 3-DOF parallel mechanisms named 2TPRRR-TP is proposed. Drawing of configuration design are also gained. According to theory of homogeneous coordinate transformation, both forward position analysis and inverse position analysis are formated. The two position model are systematically researched. The workspace of the novel parallel mechanism is solved based on arithmetic of limited border searching. Three-dimension solid simulation model is gained by drawing and VISC(visualization in scientific computing) of Matlab.At last, this dissertation provided a believable method of the parallel mechanism design by using the virtual prototype technology with ADAMS software. |
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