| Industrial robots are also developing more and more rapidly as Made in China 2025 proceeds.Robotics is an important area of development in the new era and is now a common piece of machinery used in industrial production.Many dangerous,high-intensity jobs can be replaced by robots.As robots develop,applications become more widespread and all tend to be lightweight and efficient.Parallel mechanisms are increasingly advantageous in industrial robot applications.In this paper,the 3-CRCR/CU parallel mechanism is investigated in terms of degrees of freedom,kinematics,workspace analysis and motion simulation.The main research elements of this paper are.A three-dimensional solid model of the 3-CRCR/CU parallel mechanism is established,the structural configuration of the parallel robot is described and analysed,and the spiral theory and the modified Grübler-Kutzbach formula are combined and applied to the analysis of the degrees of freedom of the parallel robot to complete the analysis of the degrees of freedom of the parallel mechanism and its properties.The kinematic equations of the parallel robot are established by using a combination of vector geometry and rotation matrices to analyse the position of each branch chain of the 3-CRCR/CU,and then completing the analysis of the kinematic forward and inverse solutions of the parallel robot to determine the relationship between the measurement points at the end of the moving platform and the input quantities.The singularities of the parallel mechanism are analysed by means of the velocity Jacobi matrix and the parallel robot is programmed and simulated by using MATLAB to solve the kinematic inverse equations.A theoretical basis is laid for the study of parallel robots based on this parallel mechanism.Based on the kinematic inverse solution and kinematic constraints of the 3-CRCR/CU parallel mechanism,the workspace of the parallel mechanism is found numerically and then the kinematic simulation of the parallel robot is programmed using MATLAB to complete the mapping of the workspace for visual description.The structural parameters of the parallel robot are then set,and the effect of changes in the mechanism parameters on the workspace of the parallel mechanism is analysed by setting different parameters.Finally,according to the parameters of the 3-CRCR/CU parallel mechanism,a 3D model of the parallel mechanism is built,and the 3D model is converted into a corresponding data file type and imported into ADAMS simulation software.The kinematics and dynamics of the measurement points at the end of the moving platform were analysed.The kinematics and dynamics of the end measurement points of the moving platform were analysed. |
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