Parameter interacted design method for five-degree-of-freedom hybrid robot

Abstract

The invention discloses a parameter integrated design method for a five-degree-of-freedom hybrid robot. The parameter integrated design method comprises the following steps of: taking a working space midpoint as a reference point, taking kinematics performances as constraint conditions, and taking maximum working space volume as a target to determine scale parameters of a mechanism; taking static rigidity performances as constraints, and taking elastic kinematics performances as an optimization target to determine key structural parameters of a part; and determining parameters of a servo motor based on drive joint equivalent rotational inertia, rotation speed and rotation torque during motion along typical track. According to the parameter integrated design method disclosed by the invention, kinematics, statics and dynamics performances of the robot are comprehensively taken into consideration with the adoption of a hierarchical idea, so that integrated design of scale, structure and drive parameters can be realized. Kinematics, statics and dynamics performances, on any configuration, of the robot are mainly related to motion / force transmissibility of the mechanism, and therefore, parameters can be designed on a working space center to ensure global performances of the robot, and design workload can be greatly saved.

Description

technical field [0001] The invention relates to a five-degree-of-freedom hybrid robot. In particular, it relates to a parameter integration design method of a five-degree-of-freedom hybrid robot including scale, structure and driver parameters. Background technique [0002] The rapid development of aviation / aerospace, new energy, high-speed railway and other industries has led to an increasing demand for large structural parts. Such parts have the characteristics of large dimensions, complex geometric shapes, and high precision requirements, and their manufacture and maintenance face many challenges. Patent ZL201510401279.9 discloses a five-degree-of-freedom hybrid robot with a multi-axis rotating bracket, which consists of a three-degree-of-freedom parallel mechanism and a two-degree-of-freedom rotor connected in series, wherein the parallel mechanism includes a frame, Three active adjustment devices that can be extended or shortened in the axial direction, a driven adjus...

AI Technical Summary

Problems solved by technology

However, the existing parallel / hybrid robot design methods are mostly limited to the design of scale parameters, which cannot guarantee the dynamic performance of the robot, and it is difficult to obtain robot equipment with excellent comprehensive performance; in addition, considering that the performance of the robot varies with the configuration, if the design Inspecting the statics and dynamics performance of its entire workspace during the process will make the design problem extremely complex and impossible to achieve

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