3-RSS同轴驱动布局并联机构的打磨机器人设计与运动分析

Design and Motion Analysis of Polishing Robot with 3-RSS Coaxial Drive Layout Parallel Mechanism

针对目前串联型打磨机器人在打磨球面时存在刚度不足的问题,提出一种3-RSS同轴驱动布局并联机构工具型打磨机器人。同轴驱动布局是将驱动布置在同一轴线,主体由基柱和3组可以绕基柱旋转的机械臂构成,每个机械臂外接支链杆簇,3组支链杆簇与末端打磨头相连。通过构型分析、结构设计,建立同轴驱动布局打磨机器人模型,并对模型进行运动学分析,通过雅可矩阵分析奇异位置,获得打磨机器人的灵活工作空间;经过运动仿真,对比预设路径与仿真轨迹,进行运动误差分析,验证了驱动方案的可行性。研究结果为并联机构打磨机器人拓展工作空间、提高刚度提供了理论与技术支持。

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.