Development of a new type of machining robot-a new type of driving mechanism

Abstract

On the bases of an analysis of the reasons for the low kinematic accuracy and poor stiffness of the conventional robots, a new type of machining robot that is particularly adapted to perform cutting tasks is developed in this study. A new type of 4-axis combined driving arm is presented and its principle is firstly introduced in this paper, and the mechanical performance is analyzed. Analytical results show that the mechanism is characterized by high stiffness and good kinematic accuracy.