Abstract
This paper proposed a new structure of full-mobility parallel robot, which combined the advantages of high-rotational capabilities and structural simplification, for high-speed operations of material handling. The proposed robot structure integrates lightweight and simple linkages with a relatively complex (i.e., compared to the single platform with limited rotational capability) articulated mechanism or gear train as wrist mechanism to amplify the end-effector rotations, but without significantly increased structural complexity of gearbox, compared to the existing designs. Parametric modeling are carried out for position analysis, workspace evaluation, singularity identification and dynamic characterization to qualify the proposed robot. Moreover, the structure of the proximal links are designed with topology optimization to ensure design requirements of stiffness and low inertia. The performance evaluation shows that the proposed robot can be of high potential application in the industrial production line.
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