Dynamic Analysis And Application Of 3-RRR-P Hybrid Robot

With the development of robotics,scientists have proposed a hybrid robot that has both a large working space of a serial robot and parallel robots with large loads and high movement accuracy.And gradually become the focus of the current study.The 3-RRR-P hybrid robot is a new type of hybrid robot.It adds a vertical single-degree-of-freedom series mechanism to the 3-RRR parallel mechanism,which increases the working space of the 3-RRR parallel mechanism.It can work in three dimensions.It also increases the load.The main research contents of this article are as follows:(1)Using pro/e software to perform modeling of the 3-RRR-P hybrid robot.The first is to design the parallel mechanism.The circumcircle radius of the movable platform is greater than the radius of the circumcircle of the static platform,and A threaded hole is opened in the circum circle of the platform for assembly of a series mechanism screw.After the serial mechanism and the parallel mechanism are designed,the rack is designed and then assembled.(2)Firstly,performing the position analysis of a 3-RRR-P hybrid robot.The kinematics equations of the 3-RRR-P type hybrid robots are obtained using the geometric method.The relationship between the input and output of 3-RRR-P type parallel robots are obtained.Combined with the motion law of the 3-RRR-P hybrid robot,we can see that the relationship between the input and output is the Jacobian matrix of the 3-RRR-P hybrid robot.The singular pose of a 3-RRR-P hybrid robot is obtained by solving the Jacobian matrix.Selecting an optimal working mode and using a three-dimensional search method,the 3-RRR-P hybrid robot can achieve a reachable working space in a fixed attitude.Finally,using MATLAB to simulate the speed and acceleration of 3-RRR-P hybrid robot.(3)Based on the kinematics analysis of 3-RRR-P type hybrid robots,the center-of-mass coordinates and moment of inertia of each connecting rod and moving platform are obtained.The 3-RRR-P model is mixed using the Lagrangian method.The drive torque of the robot is solved,and the drive torque and drive energy of the drive rod of each mechanism are obtained.The drive torque and drive energy consumption of the 3-RRR-P hybrid robot with no load are simulated using MATLAB programming.MATLAB programming compares the driving torque and driving energy consumption of a 3-RRR-P hybrid robot under load.It can be clearly seen that when there is a load,the driving torque and driving energy consumption have a significant increase compared with no load.(4)Based on the analysis of kinematics and dynamics of a 3-RRR-P hybrid robot,three industrial applications with potential applications are proposed.The 3-RRR-P hybrid robot is used to transport dangerous goods,Micro-moving platforms,milling surfaces,etc.have broad application prospects...