Design Of 2-UPR-2-RPU Redundantly Actuated Parallel Robot

This paper mainly works on the capability analysis and design of 2-UPR-2-RPU redundantly actuated parallel manipulators.The main work are as follows:Firstly,a simple 3D model of the redundantly actuated parallel manipulators was built.The inverse and forward kinematic analysis of the manipulators are deduced by using the closed-loop vector method.The calculating work is done by MATLAB.We can get the unique inverse and lots group of forward kinematic solutions.Then we can get the solution we want by limiting the links and angle.The parameters of the redundantly actuated parallel mechanism are optimized by using the force/motion transmission performance index LTI which is based on screw theory.We defined the better angle area according to the the radius changing of static and moving plan.Then we can get the good radius parameters.Then the reachable workspace of the redundantly actuated mechanism is gotten by MATLAB,limiting the actuation links,joint angles,and the interference of links.The simple 3D redundantly actuated mechanism model is built by SolidWorks,then the coordinate is given.We use the simulation examples of single numerical solution and a spiral line solution to verify the correctness of the inverse and forward kinematic solution.Some key parts of redundantly actuated parallel manipulators are analysised by the ABAQUS software.The results show that the design parameters meet the requirements of intensity and stiffness.The structural design of the redundantly actuated parallel manipulators are based on above analysis.Then we choose the servo motor,ball screw,linear guide,ect.At last the 2-UPR-2-RPU redundantly actuated parallel manipulators are presented.The achievements in this paper are helpful to the application of friction stir welding.