Design And Development Of A Novel 4-DOF Parallel Robot

Driven by the exhaustive needs from food,medicine,electronics,and light industry,where pick-and-place operations at very high speed are the essential requirement,this dissertation designed and developed a 4-DOF high-speed parallel robot based on new moving platform structure.It mainly studies the dynamic scale optimization method of the robot based on the analysis of kinematics and dynamics,and then designed the hardware and software of the of the prototype control system.The following achievements have been acquired:A new moving platform was proposed for a 4-DOF high-speed parallel robot,which can generate SCARA motions,by using the double helix gear transmission to realize the rotation of the effector.Compared with the similar robot moving platform,it has the characteristics of compact structure,light weight and high rigidity,especially the double helical gear differential transmission method can significantly improve the positioning accuracy of the robot.Aiming at the problem of dynamic dimension synthesis of the robot,two types of rigid body dynamics performance evaluation was defined according to the contribution of the inertia term and velocity term to the driving torque of a single chain joint and considering the pressure angle within and between the chains?rigid body dynamics performance indicators as the kinematic constraints and the objective function,the dynamic scale optimization design can ensure that the robot obtains excellent kinematics and rigid body dynamics performance in the operating space.The hardware of the high-speed parallel robot control system was designed by using the DTP7-P teaching device as the interface and the multi axis motion controller PMAC as the control system core.The kinematics algorithm module of the real-time call was developed based on the kinematic analysis and then created the completion of the underlying logic control software and motion control program.At last,using LabVIEW to develop the application software of the teaching operation of the high speed robot,and realizing the communication between the operation software and the controller based on the Ethernet communication mode.The above-mentioned outcomes have been employed for the prototype development of the 4-DOF high speed parallel robot.