Parallel robots are currently very mature robot products, and they are also the fastest industrial robots. They are also called spider-hand robots. The salient feature of the parallel robot is that it has no accumulated error and high accuracy; the driving device can be placed on or close to the fixed platform, which can make the moving part light in weight, fast in speed, and good in dynamic response.
1. Parallel robots and series robots
The tandem structure of the tandem robot is an open kinematic chain, and all the kinematic rods of the tandem robot do not form a closed structure chain. The working space of the tandem robot is large, and the motion analysis is relatively easy to avoid the coupling effect between the drive shafts. However, each axis of the mechanism must be independently controlled, and encoders and sensors are required to improve the accuracy of the mechanism during movement.
Parallel robots and traditional industrial serial robots form a complementary relationship in the application, which is a closed kinematic chain. Parallel robots are not prone to dynamic errors, and the error-free accumulation accuracy is high. In addition, its structure is compact and stable, most of the output shaft bears axial force, and the machine has high rigidity and large carrying capacity.
2. Mechanism composition of the parallel robot
(1) Static platform: used to place and fix the servo motor and the intermediate shaft to ensure the stable operation of the high-frequency and high-strength working environment. The static platform is also used to install and fix the top mechanism of the parallel robot, including the servo motor, all in this place.
(2) Movable platform: connected to the bottom end of the slave boom, used to suspend the load and can work within the reach of the arm. The movable platform is the bottom of the installation gripper or the platform for the suction cup. There is basically no driving mechanism for the movable platform.
(3) Active arm, driven arm: Carbon fiber material is used, which effectively improves the strength ratio, and is used for the connection between the servo motor and the driven arm.
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