Dexterity optimization based on orthogonal test of 3P3R grinding robot

The precision is impacted when the robotic grinding path is discontinuous and the gripper needs to be replaced during manufacturing. In order to solve this problem, a new type grinding robot, 3P3R, was proposed. Based on D-H notation, space kinematics modeling of the grinding robot was presented, and the kinematical equation was derived. A new robot frame including active work piece frame {W} and passive tool frame {T} was presented. It was pointed out that the relative position between the base frame of the robot {O} and {T} was a key factor which impacted on dexterous workspace of the grinding robot. The orthogonal test method indicated that the relative position in the direction of second joint of the robot was the most significant factor. Furthermore, the position of the contact wheel relative to the robot was optimized and the volume of the dexterous space was doubled. The dexterity of the robot was improved.