Methodology for designing low-cost robots with parallel kinematics

摘要

Abstract In this paper, a methodology for the design of low-cost robots with parallel kinematics is proposed, involving ten stages. The methodology offers an alternative to the classic methods used in the design of robots with parallel kinematics, taking into account the capabilities of modern CAD/CAE systems, which is of particular importance due to the limited financial resources for designing and manufacturing low-cost robots with parallel kinematics. The main classical methods used in the design of robots with parallel kinematics are described, at the individual stages of the proposed methodology and the possibilities for accelerated solving of the relevant tasks with the use of CAD/CAE systems. Recommendations are given for the methods and means used at each of the proposed stages. The proposed methodology can serve as a basis for defining the main steps performed when designing robots with parallel kinematics. The developed methodology has been tested for the design of a low-cost robot with parallel kinematics, with a positioning accuracy of ± 0.1 mm. The results of the application of the proposed methodology have been analyzed.