Synthesis And Analysis Of One Kind Of Industrial Robot With Multi-loop Structure

Along with the transformation and upgrade of our manufacturing industries, and the urgent need of the world for intelligent manufacturing, the application and research of the industrial robot has become the hottest focus. The study of robotic mechanism is the foundation for innovative design of robot in the study of robots, currently the research of series structure widely applied is very mature, but for hybrid structures mixing with both serial and parallel structure characteristics, which have the features of satisfactory stiffness, good loading capacity, large workspace, there are only three kinds, it still remains to further study. In view of this, this paper describes a method for synthesizing hybrid industrial robot with multiple loops structure, based on the topological graph atlas database of kinematic chains, obtained 13 new structures, and analyzed their kinematics and dynamics with typical calculated example.This paper firstly obtained 35 topological graphs of planar kinematic chains with 9-link and 2 degrees of freedom, on the basis of the topological graph atlas database of kinematic chains, by analyzing the features of existing industrial robotic mechanisms, the selection and transformation principles are developed, 8 topological graphs which is suitable for equivalents instead are selected, finally translated into 13 multiple loops industrial robot mechanisms.Based on the method of "kinematical transformers", the analysis procedure of planar multiple loops mechanisms is builded, the relationships between the independent input co-ordinates and the joint co-ordinates of planar part in multiple loops industrial robot mechanisms are obtained, then it’s converted into tree-type systems by disassembling multi-pair link, the position of selecting mechanisms is analyzed combining with "D-H" method, and the workspace of one example is analyzed.Industrial robot mechanisms with multiple loops is split into serial branches, the relationships between the input joints velocity and other joints velocity of the planar part are obtained using "kinematical transformers" method, the velocity and acceleration of each links are obtained using recursion formulae of velocity and acceleration, finally the kinetic equations of industrial robot mechanisms with multiple loops are builded on the base of Kane dynamic method.