Research On The Key Technology Of A Multi-ring Coupled 6-DOF Parallel Robot

The high speed of the delta parallel robot makes it one of the most installed parallel robots in the world.However,an ordinary Delta robot has only 3-4 degrees of freedom,which limits its use in highly flexible applications.In this paper,Based on the configuration and the practical application of robotic assembly principle optimization,a multi-loop coupled 6-DOF parallel robot is proposed,which combines the high speed characteristic of Delta robot and the flexibility of 6 DOF serial robot.After that,a theoretical study on freedom control,kinematics analysis and trajectory planning analysis was made for the configuration,which laid the theoretical foundation for subsequent control.Based on this,the design and processing of the robot's body structure and robot Hardware and software control system for test commissioning.The main work and achievements are as follows:By analyzing the unconstrained branched configuration available for a 6-DOF parallel mechanism and designing the robot configuration according to the principle of prioritizing the practical use and installation of drivers,a theoretical model of a multi-loop coupled 6-DOF parallel robot is proposed This configuration combines the high-speed features of the Delta robot with the flexibility of a 6-DOF serial robot.The theoretical model is optimized by using relevant knowledge of mechanism.The driving mechanism of the multi-ring coupling mechanism is transferred to the rack by the parallelogram structure,and the multi-ring coupled parallel mechanism is split by spiral theory and then the degree of freedom is verified.The optimization model is equivalent to the theoretical model.The optimized model reduces the inertia of the robot and increases the speed of the robot.Finally,the optimized theoretical model will be designed and processed in detail.The kinematics model of the new multi-loop coupled 6-DOF parallel robot is established by vector method,which provides the necessary theoretical basis for solving and optimizing kinematics.The kinematic equation is solved,the inverse solution analytical solution of the robot is obtained and the inverse kinematics equation is solved for the example.After optimization,the calculation accuracy of inverse kinematics is obviously improved.For the positive solution,Newton iterative method quickly and accurately obtained the positive solution of the robot.Combined with the control characteristics of multi-ring coupled parallel robotwith 6-DOF,the design of control system is carried out.According to the hardware platform needs analysis and software design requirements analysis,the hardware which meets the requirements is selected to build the hardware platform and the efficient,easy to operate,function more complete software.According to the functional planning of the robot electromechanical system,then initialize the software debugging,zero calibration procedures,the robot program linkage debugging,and according to the test waveform optimization planning process,and finally the control system Lag time test.After the software test is complete,the experiment is used to compare the 6-DOFmulti-loop coupled parallel robot with the6-DOFserial robot.The comparison results show that the parallel robot is obviously faster than the serial robot.