Kinematic and workspace analysis of a five-degree-of-freedom parallel packaging robot
With the development of science and technology,packaging robots are widely used in the packaging of large and heavy goods,which improves the packaging efficiency and reduces the working intensity of workers.Compared with serial ro-bot,parallel robot mechanism has the advantages of good stiffness,high precision and strong bearing capacity,but its work-space has limitations.Taking the 5-SPS-UPU parallel robot as the research object,the kinematics,workspace and dexterity of the 5-DOF parallel robot are systematically derived.Firstly,the inverse solutions of the kinematic equations and Jacobian matrix are derived by using coordinate transformation theory and differential method.Secondly,the workspace of the robot is studied by the boundary search method of the software,and the changes of the pose and position of the robot are numerically analyzed.Then the dexterity of the robot is studied with a case.The analysis results show that the optimal motion dexterity of the robot is 1.1,which has large effective workspace and flexibility,and can be widely used in the field of packaging robot.
万方数据
