Research On The Kinematics Of 6-(?)URU Parallel Robot And Laser Cutting Experiment

Stewart Platform is the earliest parallel mechanism proposed and applied to actual use. Advantages like high stiffness, strong bearing capacity, small error and high precision have been fully reflected during the application. Duing to its advantages which can’t be replaced by the serial mechanism, Stewart Platform has been the key point of the robotics research; also, the application area has being expanding. As the research of the parallel mechanism goes deeper, new types of parallel mechanism that evolved from the Stewart platform then get proposed by scholars and researchers, the 6-PURU parallel robot is just one of them.The driving element of the 6-PURU parallel robot is fixed on the frame, which tells the difference between 6-PURU parallel robot and traditional Stewart platform, apparently it helps to increase the bearing capacity. Besides, each of its branch chain is composed of sliding pair, hook hinge and rotation pair; it greatly reduces the precision of the machining of ball joint and improves the performance of the parallel robot.The subject of this paper is 6-PURU parallel robot. Its kinematics equation was established with the space vector method, and then the position solution was analyzed. In the solving process, the application of decoupling made the solving procedure easy. Then the correctness of positive solutions was proved by simulation cases with Mathematic software. Based on the positive solution, with the consideration of the effect factor of workspace, the principle and method about positive forward and inverse solutions of search workspace was described in two prospects, also the largest workspace model was presented by the usage of MATLAB simulation software. In addition, in the singularity analysis of this parallel robot, the Jacobian matrix was solved, and the singular configuration type and singular trajectory equation were analyzed and simulated, also the position and orientation singularity were analyzed together with the workspace model. All these theoretical researches provide basis for the improvement and actual use of 6-PURU parallel robot.Finally, based on the previous theoretical analysis, the experiments of cutting low carbon steel with 6-PURU parallel robot were carried out, and the effects of the power, oxygen pressure and beam incident angle on the kerf quality of low power laser machining were analyzed, all these provide references for the future use of 6-PURU parallel robot.