Dynamic analysis of a linear Delta robot in hybrid polishing machine based on the principle of virtual work

摘要

This paper presents a novel hybrid polishing machine based on the precession polishing process. The machine mainly contains a two degrees of freedom (DOF) serial robot and a three DOF parallel robot with a redundant rotational table on the moving platform. Due to the complex structure and the coupled motion of the parallel robot, dynamics analysis of the parallel robot with three translational DOF (linear Delta robot) is conducted aiming at facilitating the development of hybrid polishing machine. The position, velocity and acceleration analysis of the parallel robot are conducted. By introducing a mass distribution factor, a simplified dynamic model of the parallel robot is developed based on the principle of virtual work. For a pre-defined path of the moving platform, the required force for the driving motors are obtained through numerical simulation. The simulation results are further compared with an ADAMS model, hence justifies its correctness.