THE STRUCTURAL SYNTHESIS OF THE PARALLEL ROBOTS

摘要

Parallel robots have received special interest due to their advantages over conventional serial mechanisms: high rigidity, high load capacity, high velocity and high precision. Parallel robot is a mechatronic system and requires to be designed in the spirit of mechatronic philosophy. This paper proposes a method of structural synthesis of parallel robotic mechanism according to the concept of mechatronic philosophy and of the kinematic connections.The V design model - V design cycle - is adopted. The methodology considers an iterative process corresponding to the stages of product design development. During the design process, one cannot consider a universal parallel robot due to the reduced workload. The use of a parallel robot in a given application requires careful analysis of the structure and of the indispensable parameters. Structural synthesis of mechanisms for parallel robots is addressed in detail.The kinematic connections are defined and classified; the conceptual mode of operation and the structural analysis of the mechanisms are noted. Principles of structural synthesis using the concept of the kinematic connections are discussed; edifying examples of planar and spatial parallel robot structures for this synthesis are summarized.http://dx.doi.org/10.5755/j01.mech.17.3.505