OVERCONSTRAINT ANALYSIS AND SELF-ADJUST STRUCTURE DESIGN OF PARALLEL ROBOT MECHANISM

摘要

Parallel robot mechanism described by the most of literatures have overconstrained loop(s),. Such loop(s) have the essential drawback of sensitivity with respect to the geometrical conditions of the kinematics pairs and therefore errors can produce jamming effects or internal loads and severe vibration and noise. In this paper, the overconstraint number of parallel robot mechanism are analyzed. A new method has been proposed to eliminate the bad effects of the overconstraint of parallel robot mechanism by applying the non-overconstrained or less overconstrained self-adjust structure, which compensates the geometrical errors. This provides a new way to improve the dynamic performance and a new method of innovation design of parallel robot mechanism.