Structure And Characteristics Study Of Parallel-Series Industrial Robot

The performance of the robot represents the highest level of human technology, because now the most sophisticated computer technology, control technology and other advanced technologies of mankind have been used in the robot area. All the countries in the world today are eager to participate in the robot developing race, because the robot has been widely used in the military, manufacturing, and even services fields. But the application of industrial robots in the industrial field has got the biggest size, and they are relegating to people’s lives most. At first, the industrial robots are developed in the form of series structure, but with the widespread use of this series structure, shortcomings like poor stability, low accuracy, and small carrying capacity drained out, making series industrial robots increasingly unable to meet the industrious needs. Then the parallel structure of industrial robot shows out, which has advantages of high stability, high precision movement, strong carrying capacity and so on, while series structure doesn’t have these advantages. The robot in this thesis consists of two 3RPS parallel mechanisms, and they are in series style. It got the advantages of both series structure and parallel style structure and with a promising future.The parallel-series style robot had been studied in thesis, first the structure had been analyzed, then make static analysis by Ansys Workbench, after simulation found structural defects,then the defect site has been improved:the downside branches have been shortened and bold to ensure the accuracy and stability during its work time; a new type of composite hinge is designed to replace the ball joints, so the movement angle could be increased. Because of this industrial robot is constituted by two 3RPS parallel mechanisms, so after the study of forward and revers solution of 3RPS parallel mechanism, the forward and reverse solution of this industrial robot can be giving. After this, the influence of ball joint being replaced on working space of industrial robot is been studied. At last, the static mechanical properties, kinematics and dynamics properties were studied by Ansys workbench and ADAMS software, the relationship between the size of under branches and the ratio of upper and lower platforms radius and the performance and the robot is been studied. Then a reference for future optimization of the design and practical application can be used through above studies.