Kinematics Analysis And Simulation Of A5-dof Hybrid Robot

Hybrid robot combines the advantages of parallel robots and serial robots, whichnot only has high-speed, high positioning accuracy, stiffness, but also has large workspace, flexible end effector. With the increasing in demand for industrial applications,hybrid robot will has broad application prospect, many organizations and scholars arevigorously studying the hybrid robot.This thesis is focused on the establishment of a5-degree of freedom (DOF) hybridrobot simulation system. The main contents include location analysis, trajectoryplanning, the establishment of simulation platform and the implementation ofsimulation system.First of all, on the basis of the3-DOF parallel robot Delta, two rotary joints wereserially connected with its end, constituting a5-DOF hybrid robot. Because parallel partand series part were decoupled, forward and inverse position analysis can be solvedrespectively from the parallel part and series part, on that basis the hybrid robot positionanalysis formula were deduced.Secondly, path planning and some common trajectory planning algorithms werestudied. Artificial potential field method was used to plan collision-free path for robot.Trajectory planning was divided into two parts including task space and joint space. Itincluded space arc trajectory planning and straight line planning in the task space. Thepolynomial trajectory planning was researched mainly in joint space.Finally, the development program of combining Visual C++with OpenGL wasused to establish the simulation systems of5-DOF robot. After investigating the twokinds of modeling programs, the three-dimensional model of robot was establishedentirely through OpenGL. The interface design was finished through the MFC of VisualC++. The virtual movement simulation of the robot was achieved through the OpenGLanimation techniques and the inverse position model, path planning and trajectoryplanning model of the robot.