Performance Analysis And Parameter Optimization Of 3-DOF Redundantly Actuated Hybrid Robot

Hybrid robot is a synthesis of series mechanism and parallel mechanism, which combining the advantages of both,can meet the high speed and high accuracy of the work requirements, and has a larger working space,better applicability. In this paper, the research of three degree of freedom redundant drive hybrid robot is based on the two degree of freedom parallel manipulator with high technology, a series Z axis is added at the end effector, on the one hand, the advantages of parallel mechanism are kept,on the other hand, it expands the working space of the organization, so that it can realize the movement of three degrees of freedom in space.The kinematics analysis of the hybrid robot with three degree of freedom redundant actuation is carried out,because there is no coupling between the parallel part of the mechanism and the series Z axis, so it need to be studied separately. Firstly, the mathematical model of parallel mechanism is established, the inverse solution and positive solution are analyzed by using the closed loop vector equation, different assembly configurations are obtained, secondly, the velocity and acceleration equations of the mechanism are further studied based on the motion influence coefficient method, finally, the kinematics research of series Z axis is studied.The singularity of the parallel mechanism of the hybrid robot is analyzed, and the mathematical conditions for the singularity of the mechanism are obtained, using the design space theory, the parallel mechanism dimensionless and find out the corresponding design space, after based on design space of mixed joint robot theoretical operating space shape and area of study, and draw the workspace area of the performance atlas. The design space theory provides an important foundation for the performance analysis and parameter optimization of the robot.The global performance index of the three degree of freedom redundant drive hybrid robot were calculated,and analysis of the parallel mechanism dexterity, output rate, loadcapacity and stiffness performance index.On the theory of space design as the basis,analysis of correspondence between robots of various performance indicators and institutions bar size parameters, draw corresponding performance atlas, and a thorough analysis of the relationship between the performance atlas, provide an important theoretical basis for the optimization of the structure of the robot.On the basis of the analysis of the performance indexes, the principle of optimizing the robot is summarized, and the optimization of the three degree of freedom redundant drive hybrid robot is analyzed and the optimal solution is sought. With Solidworks software to establish the optimization of three degree of freedom redundant drive mixed linked the three-dimensional entity model of the robot, import to Adams were related parameters setting and dynamic simulation analysis, to verify the correctness of the kinematics analysis and member size parameters optimization of rationality.