Design And Analysis Of A 6-DOF Machining Robot Based On Redundant Structure

Parallel robot has the advantages of small cumulative error,high motion accuracy and fast response speed.It plays an important role in industrial production.Based on the parallel robot,the redundant structure is introduced,which makes the robot have more advantages in reducing singular configuration,increasing workspace and improving the stiffness of the whole machine.In order to make the operation of the robot more flexible,a series robot unit is added on the robot moving platform,so that the working performance of the robot can be further improved.Based on the above background,a six degree of freedom machining robot based on structural redundancy is proposed in this paper.The design scheme is optimized and improved by means of data collection,configuration design,theoretical analysis and simulation verification.The main contents of this paper are as follows:1.A six degree of freedom machining robot based on structural redundancy,6-pups machining robot,is proposed(the underline indicates that the moving pair is the driving pair).According to the mechanism diagram,the robot is modeled and assembled with three-dimensional software to illustrate the composition and motion form of the robot.Through the modified K-G formula and screw theory,the degrees of freedom of the robot are analyzed to clarify the configuration characteristics of the robot.2.The inverse solution and Jacobian of the robot are calculated by the combination of kinematic analysis and simulation verification.Through the comparative analysis of the workspace of the robot in fixed attitude and fixed position before and after the introduction of structural redundancy,it is concluded that structural redundancy is of great significance to increase the workspace of the robot.3.Use the stiffness analysis theory to analyze the stiffness of the robot.The objective function is optimized based on NSGA-Ⅱ genetic algorithm.It is concluded that the robot with structural redundancy has better stiffness performance.4.Select materials for each part of the robot according to the working environment.Using the theoretical knowledge of static analysis,the deformation,stress and strain of the robot after loading are analyzed by finite element analysis software to verify that the robot meets the working conditions.5.Complete the construction of the robot virtual prototype through the selection of standard parts and the design of non-standard parts.Taking the small hole machining of the inner cavity of the gearbox by the robot as an example,the reliability of the function of the whole machine is verified.Through the scene application of the robot,the application prospect of the robot is illustrated.