Innovative Design, Modeling Analysis of a Novel Parallel Robot with Multiple Actuation Modes

doi:10.3901/JME.2025.19.063

Abstract

Abstract: The innovative design, complete dynamic model, and dynamic characteristic analysis of a novel three degree of freedom parallel robot that can achieve multiple actuation modes are systematically investigated. Firstly, based on the traditional three degree of freedom parallel mechanism, a new type of parallel robot with multiple actuation modes is proposed by adding auxiliary chains to construct parallelogram branches, and conceptual design and degree of freedom analysis are carried out. This type of robot can change the drive joints and achieve eight different actuation modes, thus adapting to multi-task operations. Secondly, the inverse/forward position models of the robot under different actuation modes are derived using the closed-loop vector method, and the velocity, acceleration, and workspace are analysed. On this basis, the Kane formulation is applied to establish a complete dynamic model of system under multiple actuation modes. Afterwards, a multi-body physical simulation model is constructed based on Matlab/Simscape, and combined with trajectory planning, rigid body dynamics simulation experiments are conducted on the robot under multiple actuation modes and compared with numerical calculation results to verify the correctness of the dynamic model of system. Finally, based on the inertia matrix of system, a dynamic operability ellipsoid index is defined to evaluate the dynamic performance of the robot under different actuation modes, laying foundation for actuation mode selection and dynamic performance optimization. The research results can provide reference for the design and modelling methods of such novel parallel robots with multiple actuation modes.

Key words: parallel robots, multi actuation modes, Kane equation, multi-body simulation test, dynamic characteristic

CLC Number:

TG156

LIANG Dong, CUI Manjun, SONG Yimin, SHI Haohao, ZHANG Junpeng. Innovative Design, Modeling Analysis of a Novel Parallel Robot with Multiple Actuation Modes[J]. Journal of Mechanical Engineering, 2025, 61(19): 63-77.

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