Manipulator Dynamic Precision Analysis And Simulation Of Similar-scara Parallel Robot

The inertia of mechanism and the lightweight, elastic deformation of slender rods leadto the vibration of the parallel robot system in high-speed movement, which brings theshock and vibration noise to the whole parallel robot, affecting the fatigue resistance ofmechanism and the kinematics and dynamics performance of the parallel robo t, especiallyaffecting the original design precision of the end of manipulator. Therefore, how to reducethe influence of vibration on precision has become an important content by scholars onresearches of parallel robot.This paper is about a new type of parallel mechanism wafer handling robot, which isnamed Similar-SCARA parallel manipulator with mobile platform rotating continuously.On the basis of the institutional configuration,the kinematics analysis, the stiffnessperformance of nested structure and the analysis of dynamic characteristics, this papershows the dynamic precision of moving platform caused by the elastic deformation ofmechanical arm,which provides theoretical guidance for the production practice of therobot.First of all, according to the theory of cantilever beam theory, the equivalent stiffnessand the equiva lent moment of inertia of theory, this paper establishes the kinetic energy andpotential energy of the system, calculates the vibration differential equation, naturalfrequency of the system and the main vibration by using kinetics method. The n it calculatesthe mathematical model of dynamic accuracy by geometric methods,which provides atheoretical basis of analyzing the effects of some parameters such as equivalent stiffness,and moment of inertia.Secondly,this paper gives numerical computation examples,and analyzes the influencelaws of dynamic accuracy by the change of some parameters such as equivalent stiffness,moment of inertia,a nd shows2d graphics by using software Matlab,which can get thecorresponding laws and laid a theoretical basis for optimization suggestions.Finally, this paper puts forward the error analysis method of the influence coefficient,and analyzes the equivalent stiffness influence coefficient and the moment of inertiainfluence coefficient,which replenishes the laws of the dynamic error caused by theequivalent stiffness and the moment of inertia further. Then some parameters optimizationsuggestions about how to reduce the dynamic error are presented at the end of this paper.The research results above lay the reliably theoretical basis to how to reduce thedynamic error, and provide theoretical guidance for the Similar-SCARA parallelmanipulator with mobile platform rotating continuo usly, which further perfects the designtheory of the Similar-SCARA parallel manipulator with mobile platform rotating continuously.