The Research Of Three Degrees Of Freedom Handling Robort Based On Series-parallel

With the continuous development of robot technology, industrial robot has beenwidely used. As members of the industrial robot, the high speed handling robot is of greatsignificance to realize the industrial automation and improve the production efficiency.High speed handling robot is one of the industrial robot to replace human labor to completework. It has been widely used in industrial production in packaging and transportingproduction. Institutional form of high speed handling robot has significant influence onrapid handling performance of the robot. This article deeply did research on properties ofquick handling about robot. An new robot mechanism and new way of movement weredesigned to meet the actual industrial demand.Contraposing the auto parts manufacturing, this paper analyzed the existinghigh-speed handling machine institutions at home and abroad. In consideration of theactual handling requirements, reliability and economy of robot, this paper put forward anew type of hybrid serial-parallel robot with three degrees of freedom. Two parallelstraight line modules are driven by two servo motors,making the end of robot to movevertically at a high speed and get longitudinal linear motion.Two linear modules are fixedin a transverse linear module driven by servo motor, transverse linear module drivenparallel robot to move laterally. The robot has the feature of simple structure, low inertia,high locating accuracy, high rigidity, realizing the characteristics of high speed and highacceleration easily.This article made a deep analysis on two aspects of kinematics and dynamics of therobot. On the aspect of kinematics, through analyzing the configurations, an optimalstructure was selected. Based on the Jacobian matrix,the dexterity and singular position ofthe robot was analyzed.,the kinematics model of the robot was setted up, the structure parameters effect the performance of the robot velocity and acceleration was analyzed.Kinematics model of the robot is established to analyze the effect of the structureparameters for the performance of the robot’s velocity and acceleration. Using twoindicators of the global performance index and transmission Angle, structure and motionspace of the robot was optimized. On the aspect of dynamics, through establishing theLagrange dynamics equation, the driving force of the robot was caculated.Meanwhile,theinfluence of different component of the robot was analyzed to provide the theoreticalsupport for structure selection and the choice of drive equipment.Finally,experimental system was established. Location precision、working space andthe repeatability accuracy of the robot were determined. Experiment shows that thedesigned robot is feasible, meeting the original design indicators.