Rapid solving method for failure workspace of six-degree-of-freedom parallel robot

Abstract

The invention relates to a rapid solving method for the failure workspace of a six-degree-of-freedom parallel robot. The conventional methods have the defects that 1) a geometric method is high in engineering implementation difficulty and low in computational efficiency; and 2) a certain feasible pose solution capable of making a support leg corresponding to the pose solution right as long as that of a failing support leg is difficult to give by a kinematic inverse solution-based rapid searching method. The rapid solving method comprises the following steps of determining a minimum length value of each linear electrical executor and an extended stroke value which can be realized by each linear electrical executor according to the product performance of the adopted linear electrical executors; randomly generating N groups of support leg length data according to the data by using a pseudo-random method; solving the position of a motion platform according to known parallel robot pose parameters by utilizing a steepest descent position forward kinematics algorithm; and finally obtaining N motion platform pose points to obtain a motion space scatter diagram when the leg of the parallel robot fails. According to the method, the support leg failure workspace of a six-degree-of-freedom redundant drive parallel robot is more rapidly and accurately determined.

Description

technical field [0001] The invention belongs to the technical field of parallel robots, and specifically relates to a fast method for determining the working space of a six-degree-of-freedom parallel robot based on a kinematics positive solution after a leg fails, which is used to guide or assist the performance analysis and support of a six-degree-of-freedom parallel robot Maintenance and debugging after a leg failure. Background technique [0002] Six-degree-of-freedom parallel robots are widely used in motion simulation, pose adjustment and CNC machining systems. The working space of a parallel robot is the working area that the robot manipulator can reach. It is an important indicator to measure the performance of the robot. The analytical solution of the working space of a six-degree-of-freedom parallel robot is a very complicated problem, and there is no perfect method so far. Only numerical solutions can be used to analyze the workspace of a six-degree-of-freedom par...

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Problems solved by technology

Therefore, these algorithms have shortcomings such as poor applicability, low computational efficiency and low solution accuracy to varying degrees.

In fact, the six-dimensional motion of the SPM end effector is extremely complex, leading many scholars to believe that it is extremely difficult to establish a general analytical model of the working space

[0006] The workspace solution method for parallel robots proposed in the above literature has the following defects when determining the outrigger fault workspace of 6-DOF parallel robots: 1) The geometric method is difficult to implement and the calculation efficiency is low

2) The fast search method based on kinematics inverse solution is difficult to give a feasible solution for a certain pose, so that the length of its corresponding outrigger is exactly equal to the length of the faulty outrigger

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