Structure Design And Application Of Small 6-DOF Parallel Robot

In this paper,a 6-dof small parallel robot is designed,which can be used in the fields of micro-manipulation,medical treatment and space exploration.It has the characteristics of small size,compact structure and high precision.The parallel robot adopts ultrasonic motor as the driving element and realizes real-time measurement and feedback of position information through a micro-precision encoder.The control mode is simple,and the control precision can be guaranteed.In addition,each branch chain of the parallel robot is equipped with force sensors,which can provide real-time feedback on the force.Firstly,based on the existing configuration theory of parallel robots,the structure types of parallel robots are analyzed and designed in combination with the design parameters proposed in this paper.According to the structure of the parallel robot and the basis of the existing kinematics theory,the position,velocity and acceleration of the parallel robot are analyzed and calculated.The simulation results are verified by MATLAB software.Secondly,the influencing factors of the workspace of the parallel robot are analyzed.The workspace of the parallel robot designed in this paper is determined by the method of spherical coordinate search.And the influence of structure parameters on workspace of parallel robot is analyzed.Then the error model of parallel robot is established,and the relationship between structural parameter error and output pose error is analyzed.According to the established error model,MATLAB software is used to draw the change curve of the output pose error when the structure and pose parameters change.The influence of structure and pose parameters on the output pose error of parallel robot is analyzed.This paper presents an error compensation method for parallel robot calibration.Finally,based on the above theoretical analysis and calculation,the structure of parallel robot is designed,including the design of transmission mode,selection design of ultrasonic motor,design of motion pair and design of structural parts,etc.The 3d model of parallel robot is designed with Pro-E software,and the structure is analyzed and optimized with ANSYS software.Several possible applications of the parallel robot are discussed based on its performance characteristics.The parallel robot designed in this paper enriches the product types of parallel robot and provides more choices for the actual demand.It has important research significance and broad application prospect.