| In recent years,the global robot industry has developed rapidly.The robot market has steadily expanded and the types of robots have diversified.However,there are differences in the technical performance of the major robot manufacturers,and the applied robot performance testing devices are also uneven.Therefore,the research and analysis of the robot performance testing device is great significance to the development of the robot industry.This subject is based on test system of working principle.The principle of test system requires the mechanism to have multiple degrees of freedom,convenient position solution and large working range.We analyze the leg characteristics and combination methods of the parallel manipulator,the mainstream test methods and test tool characteristics,and construct a new 3SPR-6SPS multi-degree-of-freedom rigid-flexible manipulator as the main mechanism of the robot test device.When the rigid-flexible manipulator is used as the test mechanism to test the performance of the robot's stroke,speed,motion trajectory,etc.The parallel manipulator can be applied with high precision and good stability,the series manipulator has a large range of activity and rope displacement.The sensor has the advantages of small size,light weight and long displacement.Based on the spiral theory and the modified G-K formula,the degrees of freedom of the hybrid mechanism are calculated.The number of degrees of freedom of the mechanism can meet the requirements of the robot test device.Combine the closed-loop vector method and rotation transformation matrix to express the relationship between the various platforms and members of the mechanism and analyze the forward and reverse positions of the mechanism.Then based on the influence coefficient method and the position inversion,the display expressions between the speed and acceleration of each leg of the mechanism during the movement and the input are obtained,which is convenient for the subsequent research.Based on the principle of the limit search method,the workspace of the mechanism is solved through two ways: CAD software and mathematical software.The two results are basically the same size and shape,and are symmetrically distributed.The range width is more than twice the width of the mechanism itself.It is convenient to apply it to robot test devices.In the actual working process of the testing mechanism,the pull on the rope displacement sensor will adjust the size according to needs.Therefore,the size of the corresponding component is changed to study the working space.The results show that the size of the workspace of the mechanism gradually expands with the increase of the size of the components,especially the larger the expansion and contraction of the branch chain,the more obvious the height and width of the working space of the entire mechanism change 3-4 times.Based on the principle of virtual work,a dynamic analysis and modeling of the 3-SPR parallel manipulator of the bottom bracket of the test mechanism were carried out.Through Adams software,set the trajectory,simulate the working process of the test mechanism,and compare the results with the set trajectory to find that the results are basically the same,and the mechanism moves smoothly during the simulation.The research content of this paper provides a theoretical basis for the application of rigidflexible serial-parallel manipulator in robot testing device and practical application of rigidflexible serial-parallel manipulator. |
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