并联机器人englishspeakingparallelrobot.pptVIP

* Parallel Robot Chinese Name： 张志文 English Name： Dragon Student ID： 201522080461 * Content arrangement： 1、Introduction to parallel mechanisms and Parallel Robot 2、Parallel Mechanism Analysis 3、Comprehensive Application About Parallel Robot * * 1 Parallel Mechanism and Parallel Robot Development and application of robotics technology has greatly changed peoples production and life, not only to help people complete the monotonous, repetitive work, and can perform complex operations in hazardous environments. However, with the continuous improvement of work requirements, the traditional serial robot there is often a large amount of movement of inertia, low stiffness, accumulation of errors and other shortcomings. Parallel robot is just to make up for these deficiencies. * * Parallel robots：Fixed base*1、End effector*1、Independent kinematic chains*n（n=2）。 Robot=Mechanism+Drive Control System+Other accessories Compared with the traditional serial mechanism, the number of parts is small parallel mechanism (mainly ball screws, telescopic rod, slider member, Hooke joints, ball joints, hydraulic servo motor, etc.), inventory of spare parts and therefore its manufacturing cost is relatively to low, modular and easy to assemble. 1.1 Parallel institutions Parallel Mechanism Parallel Robots * * Advantage：　 （1）Stiffness mass ratio. 　　（2）Superior Dynamic Performance. 　　（3）High precision motion. 　　（4）Compact flexibility. 　　（5）Long lasting. Shortcoming： （1）Small workspace. （2）Development is difficult 1.2 Parallel Mechanism Features * * In 1931，Gwinnett entertainment device based on spherical parallel mechanism. In 1938，Pollard invented parallel mechanism for car painting. In 1948，Gough invented parallel mechanism for tire testing. In 1965, Stewart in his article proposes a 6-DOF parallel mechanism, known as the Stewart institution. (Later to be applied to multi-field machine, offshore platform mine, flight simulation, etc.) 1931 Gwin