4-RCRP Parallel Global Performance Analysis And Optimization

Compared with the series robot, parallel robot has the characteristics of higher precision, higher rigidity, smaller inertia, and stronger bearing capacity and high operating speed et al. This paper makes research on the4-RCRP parallel robot include of the kinematics analysis, dynamics analysis, the global performance analysis and optimal design, which provided the theoretical basis for design and application of this kind of high performance robot.4-RCRP parallel robot can implement the same function as the widely applied SCARA serial robot. In addition, the4-RCRP parallel robot has a higher precision than the SCARA serial robot. The structure characteristic of the4-RCRP parallel robot is analyzed in this paper and the forward and inverse kinematics equations are established. Considering each constraint condition, the robot workplace is analyzed and the workplace maps are drawn by the MATLAB software based on the robot kinematics analysis. When analyzing the4-RCRP parallel robot dynamics, the Jacobian matrix has been solved and the robot’s dynamics equations are established by Kane equation. When analyzing the4-RCRP parallel robot performance, according to the Jacobian matrix to solve out the Hessian matrix, the force Jacobian matrix and stiffness matrix, based on the solutions of kinematics performance, the carrying capacity global performance, dynamic performance and static stiffness performance index, and draw the corresponding performance figure by the MATLAB software, which provide a basis for the optimum design of4-RCRP parallel robot. A multi-objective optimization function of the robot dimension parameters is established which takes into account the workspace, velocity dexterity and the carrying capacity, and the three sub-objective functions are unified into one general objective function with weight coefficient method, and the optimization is proved effectively by comparing with the indexes before and after the optimization.At last, complete kinematics and dynamics simulation of the4-RCRP parallel robot with using Adams software. We can expendiently observe the regular patterns of the kinematics and force changes of the robot in accordance with the relevant simulation atlas, which provided a reference for the research of this and other type robot.