Dynamic Dimension Synthesis of 4-RṞ(SS)2 High Speed Parallel Robot

doi:10.3901/JME.2022.01.029

Abstract

Abstract: A new method of dynamic dimension synthesis for 4-DOF high-speed parallel robot is studied. The mechanism takes RR (SS) 2 as the branch chain and has a single acting platform structure. Compared with the mechanism with double acting platform structure, the end moving platform has lighter weight and better acceleration and deceleration performance. The kinematic and dynamic models of the mechanism are established, and the pressure angle between the chain and the chain which can reflect the motion and force transmission characteristics of the mechanism are constructed, and the dynamic performance evaluation index with the minimum maximum single shaft driving torque in the whole area is constructed. On this basis, considering the geometric constraints such as assembly size and kinematic performance constraints, a mechanism dimension synthesis model is established to optimize the dynamic performance of the mechanism. After exploring the variation law of pressure angle and dynamic performance with scale, a set of optimal dimensions is obtained by genetic algorithm optimization with specific constraints, and the servo motor parameters are estimated based on the motion simulation on the Lame grasping and releasing trajectory.

Key words: high speed parallel robot, dimension synthesis, dynamic performance

CLC Number:

TH122

ZHANG Huipu, WANG Manxin. Dynamic Dimension Synthesis of 4-RṞ(SS)₂ High Speed Parallel Robot[J]. Journal of Mechanical Engineering, 2022, 58(1): 29-40.

References

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Dynamic Dimension Synthesis of 4-RṞ(SS)₂ High Speed Parallel Robot

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