Kinematic,Workspace and Force Analysis of A Five-DOF Hybrid Manipulator R(2RPR)R/SP+RR

作     者：Yundou Xu Fan Yang Youen Mei Dongsheng Zhang Yulin Zhou Yongsheng Zhao Yundou Xu;Fan Yang;Youen Mei;Dongsheng Zhang;Yulin Zhou;Yongsheng Zhao

作者机构：Laboratory of Parallel Robot and Mechatronic System of Hebei ProvinceYanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National EducationYanshan UniversityQinhuangdao 006004China School of Mechanical EngineeringYanshan UniversityQinhuangdao 066004China Tencent Robotics XTencent HoldingsShenzhen 518057China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2022年第35卷第5期

页      面：232-243页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：National Natural Science Foundation of China(Grant No.51875495) National Key R&D Program of China(Grant No.2017YFB1301901) Hebei Provincial Science and Technology Project of China(Grant No.206Z1805G) 

主　　题：Hybrid manipulator Over-constrained Kinematic analysis Stiffness analysis 

摘      要：In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research *** this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are ***,the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements,and the actual workspace of the hybrid robot is *** that,the force analysis of the over-constrained parallel mechanism is carried out,and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the *** on the obtained results from the force analysis,the manipulator structure is ***,the structure optimization is carried out to improve the robot ***,calibration and workspace verification experiments are performed on the prototype,cutting experiment of an S-shaped aluminum alloy workpiece is completed,and the experiment verifies the machining ability of the *** work conducts kinematics,workspace,force analyses,structural optimization design and experiments on the over-constrained hybrid manipulator R(2RPR)R/SP+RR,providing design basis and technical support for the development of the novel hybrid manipulator in practical engineering.