Abstract
The traditional parallel robot based on servo rotating motor runs stable and fast, but it still has the disadvantages of low load capacity and small acceleration. Based on the characteristics of the linear motor such as high load and stable thrust, this paper optimizes the structure of traditional three degrees of freedom (DOF) parallel robot, and obtains a novel 3-Prismatic-Spherical-Spherical parallel robot. The robot has a high speed and heavy load performance with low power consumption. Then, we solved the kinematic and dynamic formulas with screw theory and Kane’s Method. Next given the Jacobian matrix. Matlab is used to verify the formulas and given the reachable workspace with the Monte Carlo Method. While verifying performance, a simple trajectory is designed and simulated by Adams. Then we have done many groups of load experiments to verify. The simulation and experimental results show that the payload is 26kg when doing gate- trajectory (25/305/25 mm) motion. It has potential application prospects in the field of high speed and heavy load.
Highlights
In recent years, parallel robots have been developed for many types [1]–[6], and applied in various industries
Fan et al [18] derived the inverse kinematics of the 3-PRS parallel kinematic spindle platform, analyzed the sensitivity model of the spindle platform subject to the structure parameters
In this paper, we proposed a 3-PSS three-degrees of freedom (DOF) space parallel robot
Summary
Parallel robots have been developed for many types [1]–[6], and applied in various industries. The robot abandons a traditional structural layout and use a linear motor as its power source. Chen et al [33] studied the effective compensation of nonlinear electromagnetic field effects, developing a nonlinear electromagnetic field-effect adaptive robust-control algorithm that compensated for the linear motor precise motion, enabling the system to operate at higher accelerations or heavier loads After two years, they [34] proposed a new adaptive robust control strategy based on mu-synthesis. The static coordinate system O is established first, given the pose θi of the three motors relative to the origin Di, before solving the motion spin of each joint and combining matrix transformation to solve the position of the moving platform in a static coordinate system. The ends of all three branches are all moving platforms, making the speed is equal as follows, s
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