Parameter Optimization and Vibration Isolation Control of a Mobile Parallel Robot

YRob is a mobile parallel robot with 6 degrees of freedom. Previous works mainly focus on the control of this robot, and the parallel module is passive. In this paper, three wheeled chassis and attitude-adjustment mechanism (AM) with the 6-SPU configuration are employed as driving units. YRob can achieve redundancy control of 6 degrees of freedom movement to realize wide-range movement and vibration isolation. The scheme of the mechanism and two inverse kinematic solutions are given. The dimensional parameters of the AM are optimized to enlarge the workspace and improve the motion/force transmissibility. The driving modules of the AM are selected through joint simulations and static analysis. Then the multistage shock absorption system of the wheeled chassis and the AM is established. This work provides a new approach to achieve dynamic stability of the mobile parallel robot whether it works on a flat or rough road.