Analysis And Design Of A 6-DOF Processing Device Mechanism Installed On The Walking Robot

Based on the actual application background,a 6-DOF processing device installed on the octopus walking robot is designed in this paper.The processing device can realize processing operations under special working conditions such as complex space and in the wild,like the internal space of submarine or aircraft and large structural parts.Firstly,according to the design requirements of the 6-DOF processing device,the overall layout of the 6-DOF processing device is designed.The position inverse equation of the processing device is derived and its velocity Jacobian matrix is established.Secondly,using the boundary method to map the position and angle of the processing device.The working space performance evaluation index is defined,and the influence law of the mechanism size parameters on the performance evaluation index is analyzed.Then,the static equilibrium equation and the force Jacobian matrix of the processing device are established,and the static and torque isotropic performance indexes are defined.The distribution of the homosexual performance of the mechanism in the workspace is analyzed by using this index.A three-dimensional map and corresponding contour lines are produced.The partial structural parameters of the force and moment Jacobian matrix conditional variance are optimized,and then the dynamic model is established.And,the error model of the mechanism is established by vector differentiation method,and its error transfer matrix is obtained.Based on the obtained error transfer matrix,the influence law of the individual error sources on the end pose is discussed.The influence curves of the pose parameters and geometric parameters on the end error are drawn.Based on the error analysis results,Pose parameters and geometric parameters that are sensitive to the position and attitude of the processing device are determined.Finally,the prototype of the 6-DOF processing device is designed,and the simulation analysis of the processing device is carried out.The content studied in this paper provides a theoretical basis for the development and application of a 6-DOF processing device.