Research On Planar Three-Dof Parallel Drive Universal Ball-Moving Platform

In industrial automation production,it is often necessary to adjust the position of the components in the plane.Equipment currently meeting this function includes CNC three-degree-of-freedom platform,planar three-degree-of-freedom industrial robot and universal ball platform.For some working conditions requiring heavy load,high rigidity,high precision and limited working height,the above equipment cannot meet the requirements.Aiming at this problem,this paper proposes a planar three-degree-of-freedom parallel drive platform based on universal ball.The main work of this paper includes:(1)Design of the whole machine principle for the planar three-degree-of-freedom parallel drive platform based on universal ball.(2)Analyze the influence of the relative structural parameters of the parallel drive mechanism on the working space,and provide theoretical basis for the selection of the configuration parameters of the parallel drive mechanism.(3)Force analysis and accuracy analysis of universal ball and universal ball platform,and provide theoretical basis for parameter selection of universal ball and universal ball platform.(4)Research on manufacturing and assembly process methods for universal ball and universal ball platform to ensure the translation accuracy of the universal ball platform.(5)Analyze the pose motion error of the whole machine,study the influence of various error factors on the motion error of the whole machine pose,and provide theoretical basis for designing high precision machine.The planar three-degree-of-freedom parallel drive platform based on universal ball proposed in this paper has the characteristics of small height,high precision and high rigidity.