Design and Motion Analysis of Polishing Robot with 3-RSS Coaxial Drive Layout Parallel Mechanism
In view of the present series polishing robot has the problem of insufficient stiffness when grinding spherical， a 3-RSS coaxial drive layout type parallel mechanism tool grinding robot is put forward. The coaxial drive layout is a way of arranging the drives on the same axis. The robot composed of...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-02-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.02.012 |
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| _version_ | 1841547262651531264 |
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| author | Hongxiang Jing Huibin Qin Zhili Hou Linlin Liu Junqi Liu Zongyan Wang |
| author_facet | Hongxiang Jing Huibin Qin Zhili Hou Linlin Liu Junqi Liu Zongyan Wang |
| author_sort | Hongxiang Jing |
| collection | DOAJ |
| description | In view of the present series polishing robot has the problem of insufficient stiffness when grinding spherical， a 3-RSS coaxial drive layout type parallel mechanism tool grinding robot is put forward. The coaxial drive layout is a way of arranging the drives on the same axis. The robot composed of a central base column and three actuated rotating arm that can rotate around this column， each arm is connected by distal linkages to an end polisher. A coaxial driving layout polishing robot model is established through configuration analysis and structural design， and then performs kinematic analysis on the model， the singular position is analyzed through the Jacobian matrix， and a flexible working space for the polisher is obtained. Comparing the preset paths through motion simulation， the motion error analysis with the simulation trajectory verifies the feasibility of the driving scheme. It provides theoretical and technical support for the parallel mechanism grinding robot to expand the working space and improve the stiffness. |
| format | Article |
| id | doaj-art-cceaf4666a2043f1a884da13f8fe0ea1 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-02-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-cceaf4666a2043f1a884da13f8fe0ea12025-01-10T14:54:10ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-02-0145768229799828Design and Motion Analysis of Polishing Robot with 3-RSS Coaxial Drive Layout Parallel MechanismHongxiang JingHuibin QinZhili HouLinlin LiuJunqi LiuZongyan WangIn view of the present series polishing robot has the problem of insufficient stiffness when grinding spherical， a 3-RSS coaxial drive layout type parallel mechanism tool grinding robot is put forward. The coaxial drive layout is a way of arranging the drives on the same axis. The robot composed of a central base column and three actuated rotating arm that can rotate around this column， each arm is connected by distal linkages to an end polisher. A coaxial driving layout polishing robot model is established through configuration analysis and structural design， and then performs kinematic analysis on the model， the singular position is analyzed through the Jacobian matrix， and a flexible working space for the polisher is obtained. Comparing the preset paths through motion simulation， the motion error analysis with the simulation trajectory verifies the feasibility of the driving scheme. It provides theoretical and technical support for the parallel mechanism grinding robot to expand the working space and improve the stiffness.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.02.012Coaxial drive layoutParallel mechanismPolishing robotKinematics modelingSimulation analysis |
| spellingShingle | Hongxiang Jing Huibin Qin Zhili Hou Linlin Liu Junqi Liu Zongyan Wang Design and Motion Analysis of Polishing Robot with 3-RSS Coaxial Drive Layout Parallel Mechanism Jixie chuandong Coaxial drive layout Parallel mechanism Polishing robot Kinematics modeling Simulation analysis |
| title | Design and Motion Analysis of Polishing Robot with 3-RSS Coaxial Drive Layout Parallel Mechanism |
| title_full | Design and Motion Analysis of Polishing Robot with 3-RSS Coaxial Drive Layout Parallel Mechanism |
| title_fullStr | Design and Motion Analysis of Polishing Robot with 3-RSS Coaxial Drive Layout Parallel Mechanism |
| title_full_unstemmed | Design and Motion Analysis of Polishing Robot with 3-RSS Coaxial Drive Layout Parallel Mechanism |
| title_short | Design and Motion Analysis of Polishing Robot with 3-RSS Coaxial Drive Layout Parallel Mechanism |
| title_sort | design and motion analysis of polishing robot with 3 rss coaxial drive layout parallel mechanism |
| topic | Coaxial drive layout Parallel mechanism Polishing robot Kinematics modeling Simulation analysis |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.02.012 |
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