Type Synthesis and Dimensional Optimization of a High-speed and High-acceleration Parallel Robot

doi:10.3901/JME.2022.13.036

Abstract

Abstract: High-speed parallel robots are expected to become the core equipment to ensure quality, improve efficiency and reduce cost in electronics, food, medicine, and other industries because of their universality and applicability. This type of robot is of great value in both academia and engineering. The advantages of articulated platforms of high-speed parallel robots are discovered, and the coupling strategy between the sub-platforms is proposed. A line geometry-based graphical type synthesis method is established with the help of the proposed coupling strategy. Then the method is used to design high-speed parallel robots with articulated platforms. Dimensional synthesis of a proposed advantageous parallel robot is carried out to obtain a set of high-performance geometric parameters based on motion/force transmission indices. Based on the above foundations, a prototype named TH-SR4 is developed and tested. The results show that the developed TH-SR4 parallel robot has high-speed and high-acceleration qualities, and has application prospects in the field of high-speed pick-and-place operations.

Key words: high-speed parallel robot, high-acceleration parallel robot, type synthesis, articulated platforms, performance evaluation, dimensional optimization

CLC Number:

TG156

MENG Qizhi, XIE Fugui, ZHANG Sai, LIU Xinjun. Type Synthesis and Dimensional Optimization of a High-speed and High-acceleration Parallel Robot[J]. Journal of Mechanical Engineering, 2022, 58(13): 36-49.

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