Structural Design And System Simulation Of 3-DOF High-speed Parallel Robot

With the progress of science and technology, the robot as a significant symbol of science and technology has been developing rapidly, and is widely used in people’s production and life. The parallel robot is an important branch of robotics research, and since the date of birth, it is favored by the majority of researchers because of its unique advantages, and has also become one of research hotspots. In this paper, taking the 3-DOF parallel robot for example, on the basis of theoretical analysis of the kinematics characteristics, the co-simulation technology is applied to the research on finite element analysis, kinematics and dynamics characteristic simulation, and its structure parameters are optimized.Firstly, this paper makes kinematics analysis of 3-DOF parallel robot. Through the analytical method, the forward and inverse equations of kinematics, the velocity inverse solution equations and the velocity Jacobian matrix of the parallel robot are obtained. Meanwhile, this paper discusses the workspace and the singular configuration of 3-DOF parallel robot that could happen.Secondly, this paper has completed the finite element analysis of static and dynamic characteristics of 3-DOF parallel robot. Mainly based on co-simulation technology, using the seamless link technology between SolidWorks software and ANSYS software, then carries on its static stiffness analysis and modal analysis from three typical position and orientation. Through the static stiffness analysis, found that when the moving platform is away from the center position and near the workspace boundary, the deformation is larger, the stiffness is smaller, the deformation is mainly concentrated in the center of the static platform position and the links between the moving platform and the follower arm. Through the modal analysis, researching the modal shape of former 6 order of the parallel robot, found that the modal shape is mainly concentrated in the center of the static platform position, the follower arm, and the links between the follower arm and the moving platform. In order to improve the overall performance of the mechanism, the static platform center position is further fixed, the link stiffness is improved between the follower arm and the moving platform, therefore, the dimensions and material properties of the follower arm is optimized, the abilities to resist vibration and deformation of the static platform and the follower arm is thus enhanced.Thirdly, this paper analyses the characteristics of kinematics and dynamics of parallel robot by using ADAMS software, and compares calculation results of the inverse kinematics theory with the simulated data. The result is that the shapes about the theoretical curve and simulation curve of position, velocity and acceleration of the three slider are exactly the same, and the curves are basic coincidence, which verifies the correctness of the kinematics equation and the established ADAMS model. Through dynamics simulation, we can conclude that when the moving platform exercises regularly as expected, needs to change rules of driving force which the three slides output.Finally, based on the complete finite element analysis, kinematics and dynamics analysis of the parallel robot, its structure dimensions are optimized. The parameterized model of parallel robot is established mainly through ADAMS software, meanwhile, using the minimum driving force of the slider, the minimum velocity and force of the follower arm as the objective function, in the premise of the research on single objective design, by taking the method as constructing the evaluation function, the optimal solution of the structure size of the organization is finally obtained.