The Study Of A Novel 3-DOF Translational And Full-Rotational Parallel Robot

In order to meet the need of bigger workspace and multi-station operation, this dissertation takes a novel 3-DOF translational and full-rotational parallel robot as object, and deals with some key technologies, covering the structural synthesis, kinematic analysis, dimensional synthesis, servo-motor parameters estimation and virtual prototyping, et al, and establishes the fundamental for the design and machining of parallel robot. The following contributions have been made:The closed-loop constrained equations of the proposed robot are formulated via vector method, and then the forward and inverse kinematic model, velocity and acceleration model are founded. A set of constrains in terms of condition number, eigen-value of Jacobi matrix and the pressure angle are considered, and then the mean value and fluctuation of a accuracy character EAF in the whole-workspace is used to optimal design the dimensional parameters, establishing a basement for the mechanism design.The inverse dynamic model is derived by virtual work. With the aid of principal component analysis of matrix, the mapping relationship between the joint-space and work-space is analyzed, and then in order to acquire unit velocity and acceleration of the moving platform, the necessary angular velocity and driving torque in joint-space,the parameters of servomotor is estimated.The 3D model of robot is established using solidworks. Based on the above work, interference detection and kinematic simulations are carried out, and the accuracy of the previous work is verified. The above work provides a theoretical basis for the design and manufacturing of physical prototype.