| As a technology integrating with many techniques such as Computer Technology, Mechatronics, Mechanical Design, Control Theory, Robotics has been a focus many countries word-wide do research on. In many relative fields, the research on humanoid robot is received most attention. Industrial robot is an important part of humanoid robot. At first, some manipulators are made in the form of series, but can not meet the needs of developing advanced, sophisticated, and exceptional technology because of some disadvantages such as lower stiffness, longer kinematic chains, accumulative error, and working accuracy. In contrast, the developing parallel mechanism can overcome these drawbacks. Basing on this structure, this thesis puts forward a brand-new manipulator which is called a parallel-series industrial robot with6degrees of freedom.This article establishes a new parallel-series robot manipulator basing on the movement of the human arms through improving the spatial and3-RPS parallel robot with lower degrees of freedom. This type has many reasonable characters such as high kinematic accuracy, strong load carrying capacity, flexible movement, bigger working space and better ability of realizing many different gestures, which is appliable to the special occasion of narrow space and complicated gestures. By studying different parallel mechanisms, a novel parallel-series industrial robot with6degrees of freedom.is put forward. After that, this mechanism is designed detailedly to get its drawings. Besides, the direct and inverse solution is given respectively and the ways to acquire the solution is also deduced further. The speed and acceleration of the mechanism are researched via the method of influence coefficient and some relative equations are got, too. According to the dimension parameters, the boundary of working scope of single-layer mechanism is acquired by using searching method based on polar coordinate, in addition, the working space of the entire mechanism is analyzed by the resolution of the direct position and Monte carlo method. What is done finally is force analysis and many equilibrium equations are given. Besides, the model of this mechanism is established and assembled by using the three-dimensional software PROE to get the overall mechanism, then the model is simulated in the ’mechanism’ module of the software to observe its movements and mutual interfaces, which lays the foundation for building a real model. The simplified model is imported into the software ADAMS to simulate its speed and acceleration. Meanwhile, the deformation pictures of the mechanism are displayed through analyzing the model by the software ANASYS to provide guidance for optimizing the mechanism and selecting proper types. |
