I4r Type Parallel Robot Performance And Optimization Research

In recent years, the parallel robot with less degree of freedom attracted the extensive attention of the scientific community by its unique advantages, the I4R type of parallel robot is a new type of robot with less degrees of freedom which is developed on the basis of the H4parallel robot. Based on the previous research, the I4R type of parallel robot, being taken as the research object, is studied in terms of the kinematics, dynamics, global performance, optimization and simulation respectively in this paper, which provided the theoretical basis for improving the performance and extending the application.Firstly, according to the structure characteristics of the I4R type parallel robot, the forward kinematics and inverse kinematics are analyzed in this paper. The workspace figures of the robot are drawn by the MATLAB software with the inverse kinematics. Then, based on the kinematics analysis, the robot’s dynamics equations are established by Lagrange equation. At the same time, the Jacobian matrix and Hessian matrix of the robot have been solved. With the relevant theory, the expressions of the robot’s dexterity, the acceleration global performance, the inertial force global performance, the carrying capacity global performance and the stiffness global performance are presented, and the related performance figures are drawn by the MATLAB software. Finally, a multi-objective optimization function of the robot’s dimension parameters is established which takes into account the workspace, velocity dexterity and the stiffness global performance. The optimization is proved effectively by comparing with the indexes before and after the optimization.At the end of this paper, the kinematics and dynamics simulation of the I4R type robot are finished by making use of the ADAMS software. According to the relevant simulation atlas, we can intuitively observe the regular patterns of the kinematics and force changes of the robot, which provided a certain theoretical basis for this kind of robot’s research.