Studies of a Direct Drive Robot with a Parallel Configuration

摘要

A new, light weight, six degrees of freedom, direct drive robot is studied in this project. The robot has a dual-arm, or a semi-parallel configuration, and it has the characteristics between those of a serial robot and those of a parallel robot. That is, it has a large payload-to-weight ratio and high stiffness of a parallel robot and a large workspace, compact structure, and simple control algorithm of a serial robot. Because of the use of direct drive motors and composite materials, the robot is light weight and has high precision. Different robot configurations are synthesized for different motion requirements. Motion and force analysis are carried out in the project, and motion simulation programs are completed. Possible army applications are explored.