The Design Of A New Type Of High Speed And High Precision 2 Degree Of Freedom Parallel Platform

The rapid development of the industrial robot is a kind of modern industrial development trend which is automation equipment is going to replace artificial. Automation equipment not only can work in worse environment that human beings can never do, but also can work without emotional issues, which can improve the production efficiency. Serial robots because itself has great quality and inertia, it is hard to apply to the occasion requires high speed high load and high precision. Parallel robot is well made up for the inadequacy of the series robot. By the way, Three degrees of freedom parallel robot research is quite thorough, such as Delta robot. It has been widely applied in industries such as:medical treatment, food, electronics, pharmacy, etc. It is worth mentioning that when a small Z direction of displacement of the operation, two degrees of freedom parallel robot with a serial mechanism that has a 1 or 2 degrees of freedom at the end effector will be more affordable than a 3 or 4 degrees of freedom parallel robot. Aiming at this problem, in this paper, according to the practical problems arising from the research, for two degrees of freedom parallel robot as the research object.Firstly, this paper analyzes and compares several kinds of 2 DoF parallel configuration. Assumed that the structure of robot under the condition of the same size, analyzing and comparing several kinds of 2 degrees of freedom robot kinematics model, the working space and isotropic. Then chose the appropriate configuration as the research object.Secondly, according to the optimization of the robot structure size which mentioned in the following sections, design a robot 3D model, and through the finite element software to optimize the main components. Then design and implement the robot prototype, and complete the development of the platform simple interface.Thirdly, in this paper, we derived the 2 DoF parallel robot kinematics model, analyzed the kinematics of a variety of performance indicators, based on the kinematic performance indicators through genetic algorithm to optimize the structural parameters of the robot, and get the final structure size of the robot.Fourthly, in this paper, we derived the 2 DoF parallel robot dynamics model, analyzed some kinds of performance index of dynamics. Then, the simulation of inverse dynamics and forward dynamics were analyzed.Finally, the robot has carried on the simulation analysis by using three control methods: computed torque control method, the fuzzy control method based on the computed torque and computed torque control method with nonlinear PD. Based on the kinematics and dynamics model of the robot, and simulated the robot. By analysis and comparison the effect of three kinds of control scheme, get better control scheme.