Configuration Design And Analysis Of A Redundant Parallel Grinding Robot

With the development of intelligent manufacturing automation technology,the use of robots for grinding has become a research hotspot.In grinding and processing scenes of large and complex components,existing problems such as poor processing environment,complicated processes,and excessive dust.Manual grinding cannot meet high-precision and high-efficiency manufacturing requirements in grinding operations,and the use of industrial robots has obvious advantages.Industrial robots are mainly divided into series and parallel robots.Compared with series robots,parallel robots have advantages of compact structure,large rigidity,strong carrying capacity,and small errors.However,the flexible working space is small,which limits the application of parallel robots.In order to improve the performance of parallel robots,in a targeted comprehensive theoretical study of configuration,parallel robots with redundant structure design can retain the configuration advantages.At the same time,it has a certain ability to avoid singular configurations and can obtain a larger working space.Based on the screw theory,this paper combines RDOF criterion and modified G-K criterion to carry out the configuration synthesis theory.According to given basic design conditions,a series of combinations of kinematic pairs and the number of components are obtained.Each combination is allocated to each branch chain according to theoretical requirements,and branch chain motion pair and base motion pair layout are configured according to Grassmann line geometry,and different types of redundant parallel grinding mechanism configurations are obtained.Taking structural symmetry and isotropy as design basis,a redundant grinding parallel robot is designed.The closed-loop vector method is used to analyze inverse position solution,and then kinematics forward solution is analyzed.The workspace is drawn based on kinematics equations,and then speed and singularity analysis is carried out.Using finite element analysis software,the stiffness characteristics of main structure of the designed grinding robot are analyzed.Analysis result proves that the rigidity and strength of the grinding robot meet requirements,which provides a certain value for engineering application research of structural redundant parallel grinding mechanism.