THE STRUCTURAL SYNTHESIS OF THE PARALLEL ROBOTS

Abstract

Parallel robots have received special interest due to their advantages over conventional serial mechanisms: high rigidity, high load capacity, high velocity and high precision. Parallel robot is a mechatronic system and requires to be designed in the spirit of mechatronic philosophy. This paper proposes a method of structural synthesis of parallel robotic mechanism according to the concept of mechatronic philosophy and of the kinematic connections.

The V design model - V design cycle - is adopted. The methodology considers an iterative process corresponding to the stages of product design development. During the design process, one cannot consider a universal parallel robot due to the reduced workload. The use of a parallel robot in a given application requires careful analysis of the structure and of the indispensable parameters. Structural synthesis of mechanisms for parallel robots is addressed in detail.

The kinematic connections are defined and classified; the conceptual mode of operation and the structural analysis of the mechanisms are noted. Principles of structural synthesis using the concept of the kinematic connections are discussed; edifying examples of planar and spatial parallel robot structures for this synthesis are summarized.

http://dx.doi.org/10.5755/j01.mech.17.3.505