Performance Improvement of Parallel Robotics through Flexible Platform

摘要

Adoption of parallel robotics is to combine the dexterity of a serial robot and the rigidity of a machine tools to achieve high precise, heavy load, and less energy cost in machining operations. however, some disadvantages might also be brought in, and one of them is the great reduction of its workspace and flexibility. In this paper, the platform’s effects on robotic performance are analyzed systematically. It is our observation that the platform variants can affect the global performance of a parallel robot greatly. The idea of developing ‘flexible platform’ is initialized. This flexible platform is implemented by adopting external actuator(s) on the platform, which is shared by the parallel branches. The actuator can be designed to work either the off-line or the online way. The characteristics of parallel robots with flexible platform are discussed. A 2-DOF parallel robot with a flexible platform is illustrated as an example.