6-DOF Wheeled Parallel Robot and Its Design Method

doi:10.3901/JME.2023.03.046

Abstract

Abstract: Wheels are one of the greatest inventions in human history and have been widely studied and applied in the field of transportation. The wheel, a special kinematic pair, is introduced into the configuration design of the traditional parallel robots, which can effectively expand the workspace of the parallel robots. Based on the incidence matrix of omni-directional wheels, the type synthesis problem of serial chains with wheels is transformed into the problem of solving incidence matrix with wheels. Two kinds of unconstrained serial chains with wheels are synthesized, and the stability of the two kinds of serial chains is analyzed. Finally, two new types of 6-DOF wheeled parallel robots are proposed, and the degree of freedom attributes of the wheeled parallel robot based on omni-wheel are analyzed, and an experimental prototype is successfully developed. The 6-DOF wheeled parallel robot combines the advantages of mobile robots and traditional parallel robots. It not only has the advantages of high moving efficiency and wide moving range, but also has the ability to carry out high-precision 6-DOF operation in a small local range. It can be widely used in industrial operations such as processing, transportation, attitude adjustment and assembly in the manufacturing process of large-scale precision equipment.

Key words: parallel robot, wheel, incidence matrix, screw theory, type synthesis

CLC Number:

TH112

CHU Hongpeng, QI Bai, WANG Huiqi, QIU Xuesong, ZHOU Yulin. 6-DOF Wheeled Parallel Robot and Its Design Method[J]. Journal of Mechanical Engineering, 2023, 59(3): 46-53.

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