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Performance Workspace Analysis of 3-2-1 Pss Orthogonal Parallel Robot

Author: GuoYanLi
Tutor: JinZhenLin
School: Yanshan University
Course: Mechanical Manufacturing and Automation
Keywords: Parallel Robot Workspace Kinematics Mechanical Properties Force - kinematics performance
CLC: TP242.2
Type: Master's thesis
Year: 2010
Downloads: 107
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Abstract


In this paper, a new 3-2-1 PSS Orthogonal Parallel performance of the robot workspace . The main contents are as follows : Analyze the structural characteristics of the 3-2-1 PSS Orthogonal Parallel Robot , and the use of space agencies obtained knowledge of its location inverse solution . Location inverse solution based on 3-2-1 PSS Orthogonal Parallel Robot and structural constraints , given 3-2-1 PSS Orthogonal Parallel Robot positioning posture and fixed- position three-dimensional map of the workspace , and quantitative analysis of the structural parameters 3-2-1 PSS orthogonal Parallel robot workspace size . Transfer characteristics 3-2-1 PSS Orthogonal Parallel Kinematics , given the cross - sectional distribution of speed isotropic properties of the 3-2-1 PSS Orthogonal Parallel robot in the work space . Defined 3-2-1 PSS Orthogonal Parallel Robot kinematics performance of the work space , and given the cross-sectional distribution of the 3-2-1 PSS Orthogonal Parallel Robot kinematics performance workspace . 3-2-1 PSS Orthogonal Parallel Robot mechanical transfer characteristics were studied , 3-2-1 PSS Orthogonal Parallel force isotropy performance and carrying capacity of the robot's performance in the cross-section of the work space maps . Defined 3-2-1 PSS Orthogonal Parallel Robot mechanical properties of the work space , and gives the the robot mechanical properties 3-2-1 PSS Orthogonal Parallel sectional maps of the workspace . Give 3-2-1 PSS Orthogonal Parallel Robot force - definition of kinematic performance work space . Structural parameters of the workspace the kinematic performance workspace and the mechanical properties of the work space is given based on the the specific parameters horse motion simulation . Given the strength of the horse of the motion simulation - kinematic performance of a cross-sectional view of the work space , calculate the corresponding torque , provides a theoretical basis for the motor selection .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Industrial robots
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