Design of A Three-Degree-of-Freedom Redundant Drive Parallel Robot

Parallel robot has advantages of no friction and clearance, fast response, compact structure, good rigidity, low error accumulation, but they also have many shortcomings in geometric characteristics, such as small range of motion, poor flexibility, and singularity in the workspace. Adding redundancy can improve its geometric characteristics. Due to its advantages in working space, flexibility, obstacle avoidance, and dynamic characteristics, redundant-driven parallel robots have received more and more attention, especially their important applications in many fields, which make up for the tandem robots. This paper introduced the design idea of a three-degree-of-freedom redundant driving robot, and proposed a corresponding structural design scheme. The robot was built with a double link mechanism. The main body included a work table, a link arm, an electromagnet pen holder, a drive unit, etc Four parts.