The choice of motion form of parallel robot

Posted by sere on March 11th, 2021

Selecting the motion form according to the main motion parameters is the basis of the mechanical structure design. There are five types of motion of common parallel robots: Cartesian coordinate type, cylindrical coordinate type, spherical (polar) coordinate type, joint coordinate type, SCARA type.

Selecting the motion form according to the main motion parameters is the basis of the mechanical structure design. There are five types of motion of common parallel robots: Cartesian coordinate type, cylindrical coordinate type, spherical (polar) coordinate type, joint coordinate type, SCARA type. In order to meet the needs of different production processes, the parallel robots of the same movement form can adopt different structures. Which form to choose depends on the process requirements, work site, location, and changes in the direction of the centerline of the workpiece before and after handling, analysis and comparison, and selection.

In order to meet specific process requirements, dedicated manipulators generally only require 2 to 3 degrees of freedom, while general-purpose parallel robots must have 4 to 6 degrees of freedom to meet the different process requirements of different products. The selected form of motion should be such that the degree of freedom is the least and the structure is the simplest when it meets the needs.