Design and Analysis of a Three-Degree-of-Freedom Parallel Robot

摘要

In this paper, a new three-degree-of-freedom parallel robot is designed, which adopts a parallelogram structure with each branch, which is driven by a synchronous belt and uses rotating joints instead of ball hinges. This structure not only saves cost but also has better mechanical properties and basically meets the general working requirements. The kinematic analysis of the 3-DOF robot based on this branch structure was then carried out, including position analysis and velocity analysis, and then the solution of the kinetic equations and trajectory planning were carried out, and the trajectory was set up as a gate-shape, using the interpolation method of circular arc plus straight line, and the expressions for the trajectory were solved.