Study On The Kinematics And Dynamics Of A2-DOF Redundantly Actuated Parallel Robot

Compared with serial robot, parallel robot has the advantages of high precision, highrigidity, small error, and strong bearing capacity. The redundant actuation characteristics ofredundantly actuated parallel robot can overcome some singularity, increase effective workingspace, optimize joint driving force, and improve the performance of parallel robot. However,redundantly actuated parallel robot has many branched, strong coupling and nonlineardynamic characteristics. While the redundant actuation is limited by the complexity ofstructure and drive mode, increasing the difficulty of research. According to a2-DOFredundantly actuated parallel robot, studied from the kinematics, dynamics and dynamicsperformance.Based on the screw theory built the kinematics model of the2-DOF redundantly actuatedparallel robot. Through the model solved velocity and inverse velocity of the parallel robotand analysed basic motion characteristics of the parallel robot in the working space. Applygeometry principle application of screw theory to describe motion feature of parallel robotthat can simplify the operation. Based on Jacobian matrix studied on2-DOF redundantlyactuated parallel robot and2-DOF no redundantly actuated parallel robot condition ofmathematics and geometry characteristics when they occured singularity. Contrasted andanalysed the singularity how to influence the parallel robot kinematic performance.Studied dynamics problem of2-DOF redundantly actuated parallel robot. Firstly,combined with Lagrange dynamics equation and the virtual spring method to build thedynamic mathematical model of the2-DOF redundantly actuated parallel robot. Dynamicsequation introduced by this method can be completely decoupled, while simplifying theprocess of modeling and realizing fast modeling of parallel robot. And then proposed thedriving force optimization method that solveed the driving force distribution problems of2-DOF redundantly actuated parallel robot.Used ADAMS software to carry on the kinematics and dynamics simulation of the2-DOF redundantly actuated parallel robot. Verified the validity of kinematic velocity solutionand driving force optimization method.Studied dynamics performance of the2-DOF redundantly actuated parallel robot bytheory and experiment. Built a vibration measurement system to carry out dynamicperformance experiment of2-DOF redundantly actuated parallel robot. Analysised thevibration characteristic and frequency characteristic of the end-effector when the2-DOFredundantly actuated parallel robot was movement. The conclusion provided a reference forthe parallel robot dynamics performance improvement.