Research On Dexterousness Of 3-UPU And 3-RUU Parallel Robots

Parallel robot relative series robot has structure rigidity, strong bearing capacity, high precision and simple inverse solution etc. A lot of advantages. Parallel robot transmission performance is good or bad largely depends on its size.In this paper, through the analysis of the present situation of domestic and international parallel robot, on 3-UPU and 3-RUU parallel robot dexterity analysis of the system, the main work and research results can be summarized as follows:For the 3-UPU and 3-RUU parallel robot carried on a kinematical analysis, the kinematics analysis process combined coordinate analytic method with vector method, obtained the position constraint equations of two parallel robot, and separately has carried on the derivation, the speed of input and output relationship equation is obtained.Summarizing and classifying the evaluation indexes of parallel robot methods according to the mechanism of input, output speed equation, get the Jacobian matrix of 3-UPU and 3-RUU parallel robot. Using numerical search method, with the help of MATLAB of 3-UPU index of the condition number of Jacobian matrix, manipulability index, the minimum singular value index, calculating the comprehensive evaluation index of programming, the dexterity with a rod length changes in the contour map. At the same time, using the MATLAB of 3-RUU was calculated according to the global performance index for the dexterity programming,get the dexterity graph along with the change of design parameters.Finally, by comparing the characteristics of the two kinds of algorithm, proposed using genetic algorithm and pattern algorithm combining the hybrid optimization algorithm.Using the hybrid optimization algorithm to optimize design of 3-RUU parallel robot.Designed the parameter optimization design flow chart.According to the flowchart of algorithm by using MATLAB software programming, and obtained the ideal optimization results.