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Dimensional synthesis of six-degrees-of-freedom high-speed parallel robot using comprehensive evaluation index

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Abstract

Existing high-speed parallel robots cannot satisfy the operating requirements of non-planar industrial generating line. Considering this problem, this study proposes a comprehensive index that can be used for the dimensional synthesis design of a six-degrees-of-freedom (6-DOF) (three translations and three rotations) parallel robot. The index is based on kinematic, coupling characteristic, and dynamic analyses. A comparison with the dimensional parameters of a previously designed robot shows that the proposed design method can effectively decrease the indexes in various aspects and improve the motion performance of the robot. In addition, the servo motor specifications are estimated using the common trajectory and seven-time B-spline curve motion law to meet the robot motion requirements. Therefore, the proposed design approach has successfully been used to guide and develop the design process of the 6-DOF high-speed parallel robot.

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Abbreviations

\(\vec{r}\) :

Direction vector from P to 0 in the O-xyz

\(\vec{a_i}\) :

Direction vector of static platform

a :

External circle radius of static platform

\(\vec{T_{bi}}\) :

Product of direction vector and external circle radius of the moving platform

\(\vec{u_i}\) :

Direction vector and of the master arm

l 1 :

Length of the master arm

\(\vec{w_i}\) :

Direction vector of the slave arm

l 2 :

Length of the slave arm

T :

Rotation matrix of the moving platform around three coordinate axes

a1, a2, a3:

Euler angle of the moving platform around the x-, y-, and z-axes

ϕi :

Structure angle of the static platform

ϑ i :

Structure angle of the moving platform

θ i :

Rotation angle of the master arm

τ :

Torque of robot joint

m rod :

Mass of the slave arm

m arm :

Mass of the master arm

r arm :

Distance from the center of mass of the active arm to its axis of rotation

I arm :

Moment of inertia of the master arm

m platform :

Mass of moving platform

m load :

Mass of load

lx, ly, lz :

Inertia of the moving platform

n, lgear :

Reduction ratio and inertia of gear

H :

Distance from the static platform to the upper surface of the workspace

h :

Height of the workspace

h d :

Height of the trajectory relative to the bottom surface of the workspace

h a :

Horizontal distance of the trajectory

φ:

Angle of the trajectory relative to the local coordinate system

‖·‖F :

Matrix F norm

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Authors and Affiliations

  1. Key Laboratory of Mechanism Theory and Equipment Design of the State Ministry of Education, Tianjin University, Tianjin, China

    Fan Zhang, Jiangping Mei & Yanqin Zhao

Authors
  1. Fan Zhang
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  2. Jiangping Mei
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  3. Yanqin Zhao
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Corresponding author

Correspondence to Fan Zhang.

Additional information

Recommended by Editor Ja Choon Koo

Fan Zhang is a Ph.D. candidate of the School of Mechanical and Engineering, Tianjin University, Tianjin, China. His research interests include robot structure design, motion control, and industrial production line applications.

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Zhang, F., Mei, J. & Zhao, Y. Dimensional synthesis of six-degrees-of-freedom high-speed parallel robot using comprehensive evaluation index. J Mech Sci Technol 34, 1325–1338 (2020). https://doi.org/10.1007/s12206-020-0231-3

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  • DOI: https://doi.org/10.1007/s12206-020-0231-3

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