Modeling and Dynamic Dimension Synthesis for a Novel Class of High-speed Parallel Robot with Articulated End Structure

doi:10.3901/JME.2024.24.038

Abstract

Abstract: The modelling and dimensional synthesis methodology for a class of high-speed parallel robot with articulated end structure is investigated. This class of parallel robot includes two configurations, which are composed of three approximately symmetrical active limbs and one UPU passive limb connecting the fixed platform and the end-effector. Different from the traditional Delta parallel robot, articulated end structure is adopted in the mechanism so that no moving platform is included in the robot which is much more lightweight to readily obtain excellent high speed / acceleration performance; meanwhile, offset design is conducted for the passive rods to guarantee the analytical expressions of forward and inverse position. First, screw theory is employed to analyze the degree of freedom of a typical configuration, and the expansibility of structure and motion is highlighted. Second, the complete kinematics and rigid-body dynamic models under different situations are established, and the reliability of them is verified by both numerical computation and mutibody dynamics software. On this basis, several dynamic performance indices are defined in the full consideration of inertia, velocity and gravity items, and the monotonicity analysis and genetic algorithm optimization are conducted with the aid of dimension / geometry and kinematic performance constraints. Finally, the kinematic performance of the novel parallel robot and the traditional Delta robot is compared under the same dimension parameters after optimization. The results manifest that, the novel parallel robot has better kinematic performance and has prosperous application prospect.

Key words: articulated end, high-speed parallel robot, dynamic modeling, dimension synthesis, performance comparison

CLC Number:

TH112

LIANG Dong, PANG Shukang, SONG Yimin, CHANG Boyan, JIN Guoguang, SUN Tao. Modeling and Dynamic Dimension Synthesis for a Novel Class of High-speed Parallel Robot with Articulated End Structure[J]. Journal of Mechanical Engineering, 2024, 60(21): 38-55.

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