Research On The Performance Of Five Degrees Of Freedom Redundant Actuated Parallel Robot

Compared with serial robots,parallel mechanisms have a series of advantages,such as strong bearing capacity,high motion accuracy,no cumulative error,and superior dynamic performance.Because of its simple structure and low cost,low degree-of-freedom parallel robots have become a research hot spot and play an increasingly important role in industrial applications.The research object of this paper is a new type of 5-DOF redundant drive parallel mechanism.In this paper,the performance of this parallel mechanism is studied,including kinematics and dynamics performance analysis.This paper mainly studies the mechanism from the following aspects:(1)Kinematics analysis.Taking a 5-DOF parallel manipulator with 4-SPS/2-RPS configuration as the research object,the mechanism characteristics and working principle of the mechanism are analyzed,and the degree of freedom of the mechanism is determined.Then the kinematics equation of the spatial 5-DOF mechanism is established according to the constraint relationship between the position and pose parameters of the mechanism.The numerical method and the analytical method are adopted.The positive and negative solutions of the mechanism are solved.The Jacobian matrix of the mechanism is deduced by the vector loop,and the singularity of the mechanism is analyzed by using three motion performance indices obtained by the Jacobian matrix.(2)Analyses the workspace of the mechanism on this basis,and obtains the workspace of the mechanism at different heights by giving the position of the moving platform of the mechanism.By inverse kinematics solution of parallel mechanism,the branching chain length of the moving platform in a certain posture is determined,and the attitude workspace of the parallel mechanism in a given range is searched by using MATLAB software,and the point set is drawn accordingly.(3)Dynamic analysis.In this chapter,the inverse dynamic equation of a five-degree-offreedom redundant parallel mechanism is established based on the principle of virtual work to analyze the motion characteristics of its components.Jacobian matrix and inertia matrix will establish the relationship between the driving force of the moving rod and the acceleration of the moving platform.On the premise that the trajectory of the moving platform is planned,all the components of the mechanism can be solved.The driving force of a driving rod.On this basis,the validation of theoretical numerical analysis of mechanism dynamics model is carried out by using MATLAB software.