Analysis of Pose and Workspace Characteristic of 5-DOF Parallel Robot
Aiming at the problems of low rigidity， large accumulated error， and limited high-speed and heavy load in the application of serial robots in the constant force grinding processing industry， a five-degree-of-freedom parallel robot composed of 4-UPS/PPS composed of four sets of the same UPS drive bra...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2021-09-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.09.011 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841547287959961600 |
|---|---|
| author | Zhiyong Yang Hongjun Zhou Qiao Fang Zihao Zhang Jun Wang Chen Miao |
| author_facet | Zhiyong Yang Hongjun Zhou Qiao Fang Zihao Zhang Jun Wang Chen Miao |
| author_sort | Zhiyong Yang |
| collection | DOAJ |
| description | Aiming at the problems of low rigidity， large accumulated error， and limited high-speed and heavy load in the application of serial robots in the constant force grinding processing industry， a five-degree-of-freedom parallel robot composed of 4-UPS/PPS composed of four sets of the same UPS drive branch chain and one PPS restraint branch chain is proposed， the robot movement in two-dimensional plane and rotation in three-dimensional space are realized. The <italic>X</italic>-direction constraint degrees of freedom of robot is analyzed through the DH parameter method， the mapping relationship between the moving platform pose and the driving branch is determined according to the robot kinematics inverse solution equation. The robot workspace constraint equation and objective function equation are established， the tool end space pose are analyze， and spatial scatter diagrams and three-dimensional diagrams are drawn. By using Adams simulation software to compare the numerical solution and the simulation solution analysis curve， it can be seen that the robot driving branch runs smoothly and the theoretical analysis is correct. It also provides a theoretical and technical basis for the practical application of parallel robots in the field of constant force grinding. |
| format | Article |
| id | doaj-art-85122acfa66144caab4bc36fc4851d11 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-09-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-85122acfa66144caab4bc36fc4851d112025-01-10T14:47:56ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-09-0145758018848797Analysis of Pose and Workspace Characteristic of 5-DOF Parallel RobotZhiyong YangHongjun ZhouQiao FangZihao ZhangJun WangChen MiaoAiming at the problems of low rigidity， large accumulated error， and limited high-speed and heavy load in the application of serial robots in the constant force grinding processing industry， a five-degree-of-freedom parallel robot composed of 4-UPS/PPS composed of four sets of the same UPS drive branch chain and one PPS restraint branch chain is proposed， the robot movement in two-dimensional plane and rotation in three-dimensional space are realized. The <italic>X</italic>-direction constraint degrees of freedom of robot is analyzed through the DH parameter method， the mapping relationship between the moving platform pose and the driving branch is determined according to the robot kinematics inverse solution equation. The robot workspace constraint equation and objective function equation are established， the tool end space pose are analyze， and spatial scatter diagrams and three-dimensional diagrams are drawn. By using Adams simulation software to compare the numerical solution and the simulation solution analysis curve， it can be seen that the robot driving branch runs smoothly and the theoretical analysis is correct. It also provides a theoretical and technical basis for the practical application of parallel robots in the field of constant force grinding.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.09.011Parallel robotKinematicsD-H parameterWorkspace analysisAdams simulation |
| spellingShingle | Zhiyong Yang Hongjun Zhou Qiao Fang Zihao Zhang Jun Wang Chen Miao Analysis of Pose and Workspace Characteristic of 5-DOF Parallel Robot Jixie chuandong Parallel robot Kinematics D-H parameter Workspace analysis Adams simulation |
| title | Analysis of Pose and Workspace Characteristic of 5-DOF Parallel Robot |
| title_full | Analysis of Pose and Workspace Characteristic of 5-DOF Parallel Robot |
| title_fullStr | Analysis of Pose and Workspace Characteristic of 5-DOF Parallel Robot |
| title_full_unstemmed | Analysis of Pose and Workspace Characteristic of 5-DOF Parallel Robot |
| title_short | Analysis of Pose and Workspace Characteristic of 5-DOF Parallel Robot |
| title_sort | analysis of pose and workspace characteristic of 5 dof parallel robot |
| topic | Parallel robot Kinematics D-H parameter Workspace analysis Adams simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.09.011 |
| work_keys_str_mv | AT zhiyongyang analysisofposeandworkspacecharacteristicof5dofparallelrobot AT hongjunzhou analysisofposeandworkspacecharacteristicof5dofparallelrobot AT qiaofang analysisofposeandworkspacecharacteristicof5dofparallelrobot AT zihaozhang analysisofposeandworkspacecharacteristicof5dofparallelrobot AT junwang analysisofposeandworkspacecharacteristicof5dofparallelrobot AT chenmiao analysisofposeandworkspacecharacteristicof5dofparallelrobot |