A design method of planar 5R parallel mechanism robot experimental platform with multiple operating modes

Abstract To solve the problem of complex drive layout adjustment of the existing five-bar mechanism test stand, a design method of planar 5R parallel mechanism robot experimental platform with multiple operating modes is proposed. The reconfigurable modes of the 5R parallel mechanism with the same axial center, different axial centers, neutral plane coplanar of driving links, and changing five-rod into four-rod are realized through the diversified configuration of rods and simplified driving layout method. Combined with two end effectors of trajectory drawing device and Magnet ball adsorption device, the application scenes of trajectory drawing and light parts pickup are expanded. Compared with the traditional design methods, the configuration diversity and functional flexibility of the experimental platform are improved. Finally, the kinematic simulation based on SolidWorks verifies the effectiveness of the experimental platform.