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Structure Design And Kinematics Analysis Of A Series Parallel Hybrid Mechanical Arm

Posted on:2018-03-12Degree:MasterType:Thesis
Country:ChinaCandidate:H Y ZhaoFull Text:PDF
GTID:2348330518959546Subject:Mechanical engineering
Abstract/Summary:PDF Full Text Request
At present,in the field of industrial automation,the most widely used mechanical arm can be divided into parallel manipulator and serial manipulator.The series manipulator has a large proportion in the market due to its advantages such as simple structure,convenient control and large working space.Because the series mechanical arm is formed by the connection of the joint and the corresponding rigid body of the arm,the utility model has the defects of large error accumulation effect of the end effector,the limitation of bearing capacity and the movement single.The parallel mechanical arm is on the contrary,the common effect of end effector motion by multiple independent output which not only the bearing capability is greatly strengthened of the mechanical arm,greatly weakened error accumulation effect caused by a single input,and satisfying the actual production requirements of various complex positioning,however,the complexity structure,more singular configuration,small work space relatively of its own institutions characteristics which can't be solved reasonably.Therefore,this paper focuses on the advantages and disadvantages of the two kinds mechanical arm,make full use of the complementary advantages of serial mechanical arm and parallel mechanical arm.The purpose of this paper is design a hybrid mechanical arm which has the advantages of parallel mechanism on the basis of the serial characteristics.It has the characteristics of large range,multi angle,high sensitivity,large load in order to meet the application requirements of industrial robots in complex parts processing,special environment operation,high precision technical requirements and so on.In this paper,based on the research status of series and parallel mechanical arm domestic and overseas,the general design process of the mechanical arm which is configuration analysis--kinematics research--singularity and workspace study--structural optimization--the simulation experiment of mechanical arm.1.Compared the mechanical configuration of several commonly used methods firstly,combined with the design of institutions are expected to use the selection method of parallel mechanism based on single open chain configuration kinematics,forward the further series configuration scheme of 3-RRR spherical parallel mechanism with four degrees of freedom serial mechanism.2.Then establish parallel mechanism and position equation of the serial mechanism by using the D-H coordinate transformation matrix,complete the establishment of hybrid mechanical arm kinematics equation,mathematical mapping mechanism to get the various input and output mechanism of the end pose.D-H coordinate transformation matrix is used to establish the position equation of the parallel mechanism and the series mechanism respectively.The kinematic positive solution equation of the hybrid manipulator is established,and the mathematical relation between the input and the end output mechanism is obtained.3.In order to ensure the stability of the whole machine work in 3D space,the establishment of singularity equations,the corresponding singularity solution equation is established by the geometric relation and the spatial position of each component in the mechanism to draw the effective parallel mechanism and the whole system for the spatial distribution of the image by using Maple and SimMechanics mathematical software,from which the image can be seen in the good space motion and wide working range of the design.4.Then the kinematic equations and singular equations mentioned above set up the Jacobi matrix of the hybrid mechanism,based on the principle of maximum work space,by Jacobi matrix number distribution condition of genetic algorithm to optimize the structure parameter optimization of the mechanism and drawing the optimized work space,compared with the conventional spatial parameter optimization method for Jacobian matrix condition number of KJ decreased to 1.000008,based on the CATIA software design of each part of the machine and assembly,rendering.5.Finally,the simulation and experiment of the parameters such as position,velocity,acceleration,singular position and work space in the process of movement of the machine are simulated by ADAMS simulation and the physical prototype of key components.It not only confirms the correctness and feasibility of the previous theory and design,the engineering of the organization provides the basis which have significant engineering value.
Keywords/Search Tags:series parallel hybrid manipulator, 3-RRR parallel mechanism, kinematics, singularity, workspace
PDF Full Text Request
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