Conceptual Design and Kinematic Analysis of Hybrid Parallel Robot for Accurate Position and Orientation

摘要

The proposed work presents an innovative hybrid parallel robot, combining a delta robot with a spherical parallel manipulator (SPM) to achieve 6-DoF motion. The conceptual design was developed using SolidWorks, showcasing agile movement with required angles. A comprehensive electrical layout design was initiated for ensuring efficient system control, integrating various components such as actuators, sensors, and control units for seamless operation. A forward kinematic model was mathematically developed and implemented in MATLAB, generating trained data by simulating the robot’s motion for various input parameters. The trained data represents the robot’s position and orientation for different movement types, including linear, circular, pure, and mixed multiple orientation movements. The robot’s performance was evaluated using metrics such as position accuracy, orientation error, and response time. This study analyzed the robot’s kinematics for precise position and orientation control, conducting tests with square path and helix trajectory movements, as well as sudden and sinusoidal wave motor angle changes. Results demonstrated the robot’s platform moved with a pure roll angle, fixed yaw and pitch angles with repetitive roll angle changes, and a small range of roll and pitch angle with a yaw angle, achieving less than 0.2% error in position accuracy and orientation. These findings offer valuable insights for designing and controlling hybrid parallel robots for high-accuracy positioning, highlighting the importance of a well-designed electrical layout, a thorough understanding of the kinematic model, and rigorous performance evaluation for effective system control.