Design and Kinematics Analysis of Differential Drive Parallel Robot
Based on Stewart parallel robot configuration and offset flexible Hooke hinge,a 6-DOF parallel robot with 6-RR-RP-RR configuration was designed by double screw pair differential transmission scheme.Firstly,based on the double screw differential transmission principle,two kinds of series and parallel differ-ential drive schemes were proposed respectively,and the flexible Hook hinge was designed,and the final structural design scheme of the whole machine was determined.Secondly,the flexibility of the flexure hinge is modeled theoretically,and the rationality of the flexibility and strength design is verified by simulation.In addition,the inverse kinematics of the parallel robot is analyzed,its kinematics model is established,and the solution is solved by the Newton-Raphson numerical iteration method.Finally,Adams and Ansys software were used to verify the accuracy of kinematics model and solution.
NETL
NSTL
万方数据
维普
