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1、Parallel Robot,Chinese Name： 张志文 English Name： Dragon Student ID： 201522080461,2018/12/7,Content arrangement：,1、Introduction to parallel mechanisms and Parallel Robot,2、Parallel Mechanism Analysis,3、Comprehensive Application About Parallel Robot,2018/12/7,2,1 Parallel Mechanism and Parallel Robot,De
2、velopment and application of robotics technology has greatly changed peoples production and life, not only to help people complete the monotonous, repetitive work, and can perform complex operations in hazardous environments. However, with the continuous improvement of work requirements, the traditi
3、onal serial robot there is often a large amount of movement of inertia, low stiffness, accumulation of errors and other shortcomings. Parallel robot is just to make up for these deficiencies.,2018/12/7,3,Parallel robots：Fixed base*1、End effector*1、Independent kinematic chains*n（n=2）。 Robot=Mechanism
4、+Drive Control System+Other accessories Compared with the traditional serial mechanism, the number of parts is small parallel mechanism (mainly ball screws, telescopic rod, slider member, Hooke joints, ball joints, hydraulic servo motor, etc.), inventory of spare parts and therefore its manufacturin
5、g cost is relatively to low, modular and easy to assemble.,1.1 Parallel institutions,Parallel Mechanism,Parallel Robots,2018/12/7,4,Advantage： （1）Stiffness mass ratio. （2）Superior Dynamic Performance. （3）High precision motion. （4）Compact flexibility. （5）Long lasting. Shortcoming： （1）Small workspace.
6、 （2）Development is difficult,1.2 Parallel Mechanism Features,2018/12/7,5,In 1931，Gwinnett entertainment device based on spherical parallel mechanism. In 1938，Pollard invented parallel mechanism for car painting. In 1948，Gough invented parallel mechanism for tire testing. In 1965, Stewart in his arti
7、cle proposes a 6-DOF parallel mechanism, known as the Stewart institution. (Later to be applied to multi-field machine, offshore platform mine, flight simulation, etc.),1931 Gwinnett entertainment system (5D movie),1965 Stewart institutions,1.3 A brief history of the development of parallel mechanis
8、m,In 1979, Mccallino, who first devised parallel robot to complete the task in the calibration of precision assembly under the control of a small computer, which really kicked off parallel robot research. In 1985, France Claver (Clavel) professor designed the delta mechanism, through constantly revi
9、sed and improved,successfully used in medical, industrial, commercialization. Around 1990 patents in various countries. After that, the parallel robot gradually become a hot topic, more and more parallel mechanisms have been proposed, but really is not much used in actual production. Delta is known
10、as “the most successful parallel robot design“, due to the patent protection, limiting its promotion. After the patent expires various production companies competing to become the most popular models.,Delta Parallel Mechanism,2018/12/7,7,Member: static platform, moving platform, uniformly distribute
11、d three active arms, 3 groups follower arm (each including two parallel bars). Coupling: three rotating pair, 12 Hooke hinge (cross joints),2、Delta parallel mechanism analysis,2.1 Structures,2018/12/7,8,Cross universal joint,Reasonable simplification contribute to the agencys analysis, many document
12、s on the delta robot has been simplified as shown above. When using such freedom were analyzed using body diagrams a), motion analysis more streamlined Figure b).,Organization diagram:,2018/12/7,9,The sketch ends follower rod is given by Hooke hinge (cross joint) connection, it is easy to analyze th
13、e same set of rods are coplanar, and the stars on the side of equal length in each group follower rod participation constitutes a parallelogram. Then, as shown in FIG. 2 groups of different colors is always parallel to axis, thus ensuring a moving platform parallel to the static platform.,2.2 Mechan
14、ism ensure that the movement platform is horizontal,2018/12/7,10,In contrast with the serial robot, delta robot inverse solution is simpler than to strike a positive solution. You can also create the same the DH coordinate system as series robot, but the ball inverse solution analysis much simpler.,
15、2.3 Kinematic analysis,2018/12/7,11,Reachable workspace of the robot is up to the point where the end of the set can reach; dexterous workspace that is positioned to meet the range of the robot posture end up collection points; the whole working space is given all bits pose is the end point of the s
16、et up . The figure below umbrella space for up to space, a cylindrical space for its smart workspace.,2.4 Workspace,2018/12/7,12,Apollo parallel robot in motion the process can achieve rapid acceleration and deceleration, the fastest ripping speed of up to 2 to 4 times / sec. Visual identification system with positioning accuracy up to 0.1mm. Apollo parallel robot with a light weight, small size, movement speed, positioning accuracy, low cost, high efficiency, combined with the visual c
