| Parallel robot as an important branch of robotics research field formed complementary relationship with the serial robots on the structural characteristics and application scope, and have broad application prospects in the industry and other industries. In this paper, we study a new kind of drilling parallel robot system, combining with the characteristics of parallel robot on the purpose to improve the hole machining precision and work efficiency.The traditional hole robot systems, adopting serial mechanism, whose execution part can only achieve simple movement, and rely mainly on machining workpiece clamp to adjust the correct position which is time-consuming and low precision. Drilling robot researched in this paper, using a parallel mechanism in executive part, has sensitive activity,whose processing can be achieved by controlling the direction without adjusting the position of the workpiece, and can obtain higher machining efficiency. And parallel mechanism respecting to the series mechanism, has high rigidity and high precision, increasing the efficiency and improving machining accuracy in the same time.In this paper, the drilling parallel robot’s kinematics is analyzed. The motion pairs of this robot are determined by analysing the relationship between members of it, and the base and moving coordinate system are set in this artical. The mathematical models of hole making parallel robot and3-SPR parallel mechanism are established, and get the location, speed and acceleration constraint equations of motion by deduction and analysis, obtaining the relationship between an input member and an output member. According to the constraint equation above, using MATLAB software to program and calculate, obtain the calculating examples under different driving conditions, preliminary proving the validity of the constraint equations. Modeling and simulation in ADAMS simulation analysis software, the kinematics analysis of drilling parallel robot and parallel mechanism of it are validated by measuring. Finally, the working space of3-SPR parallel mechanism is analyzed, and discuss the influence of structure on the working space. |
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