Design and Kinematics Analysis of Parallel Collision Detection Mechanisms for Rocket Tank Polishing Robot

摘要

To ensure applications requirements of rocket storage tank precision polishing, a 6-dof parallel collision detection mechanisms mounted on the end of rocket tank polishing robot used for heavy load condition is designed in this paper. Its each branch chain consists of spherical joint, revolute joint and prismatic joint, in which the prismatic joint is driven by the cylinder. The collision detection principle is to judge whether an external collision occurs by real-time detecting the changes of cylinder pressure and cylinder displacement. Besides, the kinematics of parallel mechanisms is analyzed and a numerical iteration algorithm for forward kinematics based-on our previous work is proposed here. The proposed algorithm can be not only used for 6-dof parallel mechanism but also for more or less than 6-dof ones in which Jacobian matrix is not square. Moreover, it is not sensitive to the iteration initial value. Then, a linear trajectory is simulated to verify the effectiveness of the proposed algorithm. Finally, the simulation results prove the accuracy of the proposed algorithm.