Design And Research Of A Grasping Robot With Unlimited Rotational Capability

As one of the most important application of robot mechanism in the industrial robotics,grasping robot is studied widely and deeply for its broad foreground of evolution and application.The serial mechanism is widely used because of its advantages of large workspace and simple controller.On the other hand,there are many disadvantages,such as poor stiffness,poor accuracy and the cumulative error.Most of the parallel grasping mechanisms in the market are based on the Delta and H4.These parallel mechanisms,compared with the serial mechanism,have the shortcomings of small workspace and small attitude angle of the moving platform.These disadvantages lead to a great obstruction in the process of industrial application.To solve the above problems,this paper focuses on designing a new parallel mechanism with unlimited rotational capability.A three degrees of freedom(DOF)parallel mechanism is designed,which can be applied in the grasping.First of all,the inverse kinematics and the forward kinematics of the grasping robot was given and speed solution of the mechanism are deduced.And the workspace of the mechanism was obtained by MATLAB based on the inverse kinematics.After that,the mathematical criterion for the singularities of the mechanism and the static stiffness are obtained by using the Jacobian matrix.And then,the dimensional synthesis of the grasping robot is carried out based on genetic algorithm and optimized data is selected as the dimension parameter of the grasping robot.What's more,based on the calculations above,the virtual prototype modeling of grasping robot was built using Creo2.0 and the corresponding kinematic simulation was studied by using the ADAMS software,including the simulation of translational motion and rotation.And then,trajectory planning and simulation of pick-placed task are accomplished.At last,making the model with the 3D printer and the physical prototype and doing experiment analysis.The results show that the grasping robot this paper designed has the capability of unlimited rotational,and the grasping robot is significant for the grasping task.