Design And Analysis Of Parallel Manipulator Based On Redundant Structure

With the development of modern science and technology,industrial robot has become an indispensable part of industrial production.The grasping robot is mainly composed of the robot body and the end effector.The existing grasping robot mainly has two structural modes of series connection and parallel connection.The series grasping robot chooses the series connection mechanism as the main body,parallel grasping robots are mostly used in high-speed and high-precision working environment,but they are limited by the types of end effectors and control methods,so their grasping adaptability is poor.In order to solve the problem of grasping robot,a kind of structure redundant parallel grasping robot is designed,which combines the parallel mechanism and structure redundant branch chain.According to the actual requirements of the project,according to the working task and the required degree of freedom of the grasping robot,an innovative four-degree-offreedom parallel grasping robot based on redundant structure is proposed,the structure of each part of the robot is determined and the design and modeling of the mechanism are completed.The kinematics of the grasping robot is analyzed by theoretical calculation,including the forward and inverse kinematics of the mechanism,the velocity Jacobian Matrix of the parallel mechanism,the inverse solution and the velocity Jacobian of the robot are verified by the simulation experiment of the virtual prototype.Based on the Velocity Jacobi theory,the working performance of the mechanism is analyzed,including workspace,singular configuration,static stiffness and dexterity.Based on the virtual work principle,the static theoretical model of the mechanism is built,and its correctness is verified by the static simulation model.The dynamic simulation model and analysis of the mechanism are carried out in Adams software,in this paper,the path planning of the mechanism is carried out by using the quintic polynomials in the right-angle fixedposition space.Based on the principle of maximized workspace,the structure size of the grasping robot is optimized,then the prototype is built according to the optimized size parameters,and relevant grasping experiments are carried out.According to the analysis above,the redundant parallel manipulator has four degrees of freedom,and the mechanism has good motion performance to meet the grasping requirements The static analysis proves that the grasping robot has better load-bearing capacity and force-transmitting performance,and the prototype is built to verify the robot has the required motion ability and grasping performance.