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4. Each axis of the mechanism must be independently controlled, and encoders and sensors should be used to improve the accuracy of movement of the mechanism;
As shown in Figure 2, parallel robot is complementary to traditional industrial series robot in application. It is a closed chain of motion. Compared with series robot, parallel robot has the following characteristics:
1. No kinetic energy error, no cumulative error, high precision;
2. Small motion inertia;
3. Compact and stable structure, most of the output shafts bear axial stress, high rigidity of the mechanism and large bearing capacity;
4. It is designed for thermal symmetry with small thermal deformation;
5. As for the position solution, the series mechanism is easy to solve the positive problem, but difficult to solve the reverse problem, while the parallel mechanism is difficult to solve the positive problem and easy to solve the reverse problem;
6. Small work space;
7. The driving device can be placed on or near the fixed platform, so that the moving part has light weight, high speed and good kinetic energy response;
8. Perfectly symmetric parallel mechanism has good isotropy;
According to these characteristics, parallel robots have been widely used in the fields that need high stiffness, high precision, heavy load and simplified working space.
In China, as early as in the 1980s, Professor Huang Zhen took the lead in the prospective study of parallel mechanism, and in 1991, he developed China's first 6-DOF parallel robot prototype.
At present, parallel robots have been widely used in production and assembly, material handling, precision measurement, precision positioning, torque sensing, medical devices, motion simulation and other fields. For a variety of applications, many products launched its own parallel robot, for example, FANUC company production can be used in the production of assembly F200i parallel robot, ABB company IRB340 robot can be used for material handling, Adept company production can be used in materials handling Adept Quattro parallel robot, Decoration Technology company production of COPRA parallel robot can be used in the mechanical processing, Physik Instrumente company produces can be used for precision measurement of F206 parallel robot and can be used in medical equipment M850 parallel robot, ALIO company produces can be used for precision positioning of operating range and AI AI - HEX -, TRI - HEX series parallel robot MoogFCS company produces can be used for motion simulation platform of E - Cue series parallel robot, Bob Kent (tianjin) technology co., LTD., production can be used for material handling and teaching equipment the BKT series of parallel robot. With the progress of science and technology, the application scope of parallel robot is still expanding, and its influence on human industrial production and daily life will be more and more profound.