A 6-PTRT Parallel Robot using Parallel Guide Wires. Issue 1 (August 2021)

• Record Type: Journal Article
• Authors: Yang, Xian; Zhuo, Beichen; Jia, Haozhe; Rong, Weibin; Liu, Chun; Gao, Wenxiang; Li, Shijie
• Is Part Of: Journal of physics. Volume 1986:Issue 1(2021)
• Publication Date: 2021-08
• Subjects: Physics -- Congresses; 530.5
• DOI: 10.1088/1742-6596/1986/1/012037
• Languages: English
• ISSNs: 1742-6588

Abstract

Abstract: In this paper, a parallel guide 6-PTRT parallel robot with 6 degrees of freedom is designed for drilling and riveting in the narrow space inside the nacelle, and its kinematics analysis is performed, including the solution of inverse kinematics solution, Jacobian matrix, workspace results and the forward kinematics solution. The major structure parameters of the parallel robot are optimized by integrating the global performance index and the size of the workspace, and a set of parallel robot size parameters with good comprehensive performance are obtained. They are layout angles θ 1 = 17.5°, θ 2 = 15°, radius of movable platform r = 130 mm, radius of fixed platform R = 220 mm, length of branch chain L = 220 mm . These parameters meet the given size of the space available for the robot and the mounting dimensions of the drilling tool