Inverse dynamics analysis of 4-DOF stacking robot with closed chain structure

A four-degree-of-freedom PR1300 stacking robot with two parallel quadrilateral structures connected in series at the shoulder was designed. The hybrid robot with local closed chains has the characteristics of compact structure, high stiffness, and high modularity. To solve the dynamic problem of the hybrid robot. Firstly, by analyzing the induced relationship between joints, the stacking robot with a local closed chain structure is transformed into two branch chain mechanisms, and the kinematic model of the robot is established using the D-H parameter method. Secondly, the Kane method is applied to model the dynamics of the two branch chains separately, and the rigid body dynamics Kane equation of the entire 4-DOF stacking robot with a closed chain structure is obtained through the augmented matrix. Finally, the SolidWorks Motion mechanical simulation platform and MATLAB software were used to program dynamic simulations and numerical calculations, and the results were compared to verify the correctness of the dynamic theory derivation. This theory provides a necessary theoretical basis for the subsequent synthesis of robot dynamic scales.