Design and Analysis of Multi-DOF Adsorption Parallel Robot Based on Hybrid Mechanism

At present, the machining or reparation of large parts is a huge challenge. The existing method is to disassemble large parts for machining in sections or use a mobile robotic arm for machining. However, these methods have some disadvantages, such as occupying large area or insufficient rigidity, high cost in actual operation, and low quality stability. Therefore, this paper focuses on design and analysis of the multi-DOF adsorption parallel robot for in-situ machining. Firstly, a multi-DOF parallel mechanism combined with the 3-RRR spherical parallel mechanism and Delta parallel mechanism was presented. Compared with traditional multi-DOF parallel mechanisms, the hybrid parallel mechanism has a larger and more flexible workspace. Furthermore, the adsorption mechanism based on the bionic design method inspiring by the claws of birds was designed to provide stability for in-situ machining. Meanwhile, the feasibility of the presented mechanism was verified by simulation based on finite element analysis. Therefore, the design method presented in this paper could provide the design basis of manufacturing equipment for in-situ machining.