Mechanism Design Based On Parallel-body Mobile Manufacturing Robot

In this paper, several considerations for designing robots which combine the mobility of legged robots and advantages of parallel mechanisms are outlined.First is the configuration design of the parallel robot. The overall configuration and the configuration of the robot are proposed. The configuration of 8-UPS robot system and6-UPS robot system are analyzed. Then the degree of freedom of the robot is analyzed.Based on the above analysis, Setting the 6-UPS parallel robot as a research object and then establishing the model of 6-UPS parallel robot.The mobility analysis of parallel robot in machining mode is carried out.(1)The mobility analysis is solved by using numerical method.(2)The proper coordinates are established by using vector matrix analysis method.The factors which affect the working space of parallel robot are analyzed, and the working space is given. The working space of parallel robot is solved by using MATLAB.Analytic method is used to solve the inverse kinematics analysis. SolidWorks is used to simulate the inverse kinematics the curves of displacement, velocity and acceleration of the driving rod are obtained.The robot’s kinematics analysis of the walking mode is carried out in the end. It’s about planning the gait of 6-UPS system configuration, solving the key position of the load platform and solving the kinematic solution of the walking pattern.