What is a parallel robot? You will understand after reading this article

Parallel robots did not really attract widespread attention until the 1990s. It has the advantages of high rigidity, fast speed, strong flexibility, and light weight. Together with serial robots, it forms an important part of industrial robots. Widely used in light industry fields such as food, medicine, and electronics, parallel robots have unparalleled advantages in material handling, packaging, and sorting. In the past two years, as parallel robots have become increasingly widely used in the market, they have become a new force in the growth of demand for industrial robots. The research on parallel robots in my country started late, and there is still a certain gap compared with foreign countries. In recent years, parallel robots have been recognized by domestic companies, but through the development and application of parallel robots, they have been gradually improved. Characteristics of parallel robots The characteristics of a parallel robot parallel mechanism (PM) can be defined as a closed-loop mechanism with two or more degrees of freedom connected by at least two independent kinematic chains between the moving platform and the static platform (fixed platform). Its characteristics are: Compact structure, high rigidity and large carrying capacity; No cumulative error; high accuracy; Small footprint; Fast speed, good sporty performance, Low parts wear and long life Classification of parallel mechanisms In parallel robot mechanism systems, there are many types of mechanism classification, which can be divided into: (1) 2-DOF parallel mechanism In the field of parallel mechanisms, 2-DOF parallel mechanisms have the smallest degrees of freedom and can be divided into two types: planar structures and spherical structures. It is mainly suitable for plane or spherical positioning and has a wide range of application fields. (2) 3-DOF parallel mechanism (2) There are many types and complex forms of three-degree-of-freedom parallel mechanisms. There are generally the following forms: planar three-degree-of-freedom parallel mechanisms, such as the 3-RRR mechanism, which have two motions and one rotation; spherical three-degree-of-freedom parallel mechanisms, such as the 3-ups-1-s spherical mechanism. The forward and inverse kinematic solutions of this kind of mechanism are very simple. It is a widely used three-dimensional spatial movement mechanism. Spatial three-degree-of-freedom parallel mechanisms, such as delta parallel robots, are under-ranked mechanisms. Their most remarkable feature is the different motion forms at different points in the workspace. There is also a spatial mechanism with additional auxiliary rods and kinematic pairs. (3) 4-DOF parallel mechanism (3) Most four-degree-of-freedom parallel mechanisms are not completely parallel mechanisms, but their application range is wide. Add rotational degrees of freedom to the 3-DOF parallel mechanism to form a 4-DOF parallel robot.