A 6-PTRT Parallel Robot using Parallel Guide Wires

In this paper, a parallel guide 6-PTRT parallel robot with 6 degrees of freedom is designed for drilling and riveting in the narrow space inside the nacelle, and its kinematics analysis is performed, including the solution of inverse kinematics solution, Jacobian matrix, workspace results and the forward kinematics solution. The major structure parameters of the parallel robot are optimized by integrating the global performance index and the size of the workspace, and a set of parallel robot size parameters with good comprehensive performance are obtained. They are layout angles θ₁ = 17.5°, θ₂ = 15°, radius of movable platform r = 130mm, radius of fixed platform R = 220mm, length of branch chain L = 220mm. These parameters meet the given size of the space available for the robot and the mounting dimensions of the drilling tool