Optimal Design And Prototype Development Of A New Type Overconstrained 5-DOF Hybrid Robot

This paper takes the over-constrained 2R1 T parallel mechanism R(2RPR)R/SP as the research object.Aiming at the machining of aerospace composite materials,a new type of over-constrained five-freedom with independent intellectual property rights is constructed based on the mechanism.Providing independent and controllable high-end manufacturing equipment for the efficient and high-quality machining of aerospace composite products.The main research contents are as follows:First,compares and analyzes the differences between the 2R1 T parallel mechanism R(2RPR)R/SP and the Exechon robot mechanism 2UPR/SPR,mainly including the comparison of the spatial layout of the mechanism joints,the comparison of the kinematic characteristics of the mechanism,and the comparison of the inverse and forward solution of the position and the analysis of the workspace.Secondly,considers multiple indicators such as workspace and force transmission power,the optimization of the over-constrained five-degree-of-freedom hybrid manipulator mechanism R(2RPR)R/SP+RR is carried out to obtain the key size parameters.the simplified hybrid manipulator mechanism model is established,and completes the joint and driving force analysis based on the simplified model.Thirdly,according to the dimensional optimization results,designs the structure of the hybrid manipulator,conducts static analysis through finite element method to verify the stiffness of the hybrid manipulator,and optimizes the structure according to the analysis results,and compares the stiffness of the final designed hybrid manipulator and the Exechon manipulator analysis.Machining 1:1 hybrid manipulator prototype,and during the prototype manufacturing process,each part is tested for accuracy and error analysis.After the prototype is assembled,the key parameters of the mechanism are corrected considering the machining error and the cumulative error of assembly.Analyzes the influence of machining and assembly errors on the workspace and kinematics of the hybrid manipulator,and lay the foundation for the calibration of the prototype.Finally,experiment based on the prototype to detect the maximum speed,maximum acceleration,workspace and stiffness of the hybrid manipulator,and measures the positioning accuracy and repeated positioning accuracy of the prototype.Through the Sshaped aluminum alloy profile machining experiment,various theories are verified the correctness of the analysis.