Open AccessDesign of 6-DOF Multi-Ring Coupled Parallel Robot Based on Helix Theory
Author(s) -
Yu Liang,
Peng Wang,
Zenglin Ye
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1549/5/052106
Subject(s) - kinematics , computer science , mechanism (biology) , ring (chemistry) , parallelogram , parallel manipulator , helix (gastropod) , chain (unit) , robot , coupling (piping) , transformation (genetics) , control theory (sociology) , inertia , simulation , topology (electrical circuits) , mathematics , physics , artificial intelligence , engineering , mechanical engineering , classical mechanics , snail , ecology , chemistry , biology , biochemistry , control (management) , quantum mechanics , organic chemistry , combinatorics , astronomy , gene
Based on the helix theory and kinematic pair type analysis, the unconstrained branch chain configuration of 6-DOF parallel mechanism is synthesized. According to the principle of installation rationality and transmission lightweight design, the driving device of multi-ring coupling branch chain is transferred to the frame through parallelogram link equivalent transmission, and the mechanism transformation with branch chain type of 6-RSS is completed. A multi-ring coupling 6-DOF parallel robot with the branch chain type of 3-RSS-PRSS is designed. Based on the helix theory, the multi-ring coupling branch chain mechanism is split and the degree of freedom of the mechanism is calculated. The modified G-K formula is used to verify that the optimization model is equivalent to the theoretical model. The optimized mechanism reduces the inertia of the robot, improves the speed of the robot, and makes it have the high-speed characteristics of delta robot and the flexibility of 6-DOF serial robot.