Design And Research Of A Manipulator Based On Controllable Five Bar Mechanism

Due to its efficient working ability,industrial robots have almost replaced manual operations in tasks that require a lot of repetitiveness.They are widely used in manufacturing and assembly,logistics sorting,aerospace and other fields,and have great application value.However,with the continuous development of the industry,the complexity of grasping,assembling,and sorting tasks has been further increased,and the traditional industrial robots with simple and repetitive motion can no longer meet these industrial applications.Therefore,the design of industrial robots that can effectively achieve complex tasks has become an important research direction.Based on the above research background,this paper proposed a generalized parallel operation robot composed of controllable five-bar mechanism,and a configuration-type moving platform.The moving platform has independent degrees of freedom,and can complete directional work.The motion control was driven by the base drive generated.Further designed and analysis of the operating robot was carried out to verify whether it has good motion performance and high load capacity.This paper firstly designed a type of parallel operation robot that can adapt to the needs of multi-task objectives.Considering the application,the actual control difficulty and the structural characteristics of the parallel operation robot,the better design scheme was selected.Then,the kinematic mathematical model of the parallel operation robot was established,and a kinematics solution for the five-bar branched chain with coupling characteristics was proposed,and the numerical verification of kinematic results was carried out.Based on the above work,The robot working space was obtained,the two mechanism working spaces under study were compared,analyzed,and optimized,and the influence of their structural parameters on the working space was studied,which provided a reference for subsequent dimensional optimization.Further,this paper established a performance evaluation system suitable for parallel operation robots,including speed relationship,static stiffness,singularity,dexterity and motion/force transferability.Then,the results were analyzed to verify the excellent kinematic performance of the designed parallel operating robot.Based on the above motion performance and working space performance,the multi-objective optimization of the overall structure and size of the parallel operation robot was carried out,and a set of optimal structural parameters of the parallel operation robot was finally obtained,which provided theoretical support for the subsequent construction of the prototype.Based on the above work,the three-dimensional model and dynamic simulation model of the parallel operation robot were established,and the dynamic performance simulation analysis was completed.Then,the joint torque under different operating speeds was obtained,which further showed that the bearing performance of the scheme was excellent.Then,the motion control algorithm of the parallel operation robot is designed,and the construction of the control system is completed.Finally,the grasping experiment and motion experiment are designed and successfully completed,which verifies the rationality of the design of the parallel operation robot and the ability to complete complex grasping tasks.The research in this paper has certain positive significance for the diversified development of industrial robots.