Kinematic and Performance Analysis of an In-Situ Machining Robot
With the iterative development of high-end equipment,there is also an increasing demand for high-precision machining of large structural components.Currently,the processing method of components is to realize fixed-point in-situ processing by robots mounted on mobile devices.This kind of robot structure is mostly series mechanism,but their low stiffness and poor load-bearing capacity result in decreased machining precision.To address the aforementioned issues,a three-degree-of-freedom parallel mechanism with high stiffness,precision,and robust load-bearing capacity has been designed as the structural basis for an in-situ machining robot.Based on finite screw to characterize the mechanism's topology,the kinematic relationship between joints and poses is established using the closed-loop vector method.This relationship is then verified through simulations in SolidWorks and MATLAB.Performance analysis is conducted using the Jacobian matrix derived from the topological mapping.It provides valuable insights for the design and analysis of future in-situ machining robots.
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