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Design and Analysis of a Novel Hybrid Processing Robot Mechanism

International Journal of Automation and computing 2020年第3期17卷 403-416页

作者： Hai-Rong Fang Tong Zhu Hai-Qiang Zhang Hui Yang Bing-Shan Jiang School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China

In order to satisfy the requirements of large workspace and high dexterity for processing equipment of oversized cylindrical boxes′spherical crown surfaces in the aerospace industry,a novel serial-parallel hybrid processing robot mechanism is *** degrees of freedom of the 5PUS-(2UR)PU parallel mechanism are obtained by using the screw *** inverse kinematics of the hybrid mechanism are analyzed and the velocity Jacobian matrix is ***,the constraints of the main factors influencing workspace of the mechanism are given,and the position and posture workspace are ***,the dexterity and stiffness performance of the mechanism is analyzed based on the Jacobian *** virtual prototype is established,and the theoretical calculation and simulation analysis of the hybrid mechanism with arc curve as the processing trajectory are carried out by using Matlab and Adams *** research results show that the mechanism can satisfy the requirements of large workspace and high dexterity of oversized cylindrical boxes′spherical crown surface processing,and has feasibility and practical application value.

关键词： Hybrid mechanism kinematic analysis large workspace dexterity kinematic simulation

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Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical honeycomb perfusion

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Frontiers of Mechanical Engineering 2021年第1期16卷 46-60页

作者： Hui YANG Hairong FANG Yuefa FANG Xiangyun LI School of Mechanical Engineering Beijing Jiaotong UniversityBeijing 100044China School of Mechanical Engineering Southwest Jiaotong UniversityChengdu 610031China

A novel hybrid perfusion manipulator(HPM)with five degrees of freedom(DOFs)is introduced by combining the 5PUS-PRPU(P,R,U and S represent prismatic,revolute,universal and spherical joint,respectively)parallel mechanism with the 5PRR reconfigurable base to enhance the perfusion efficiency of the large-scale spherical honeycomb thermal protection *** study mainly presents the dimensional synthesis of the proposed ***,the inverse kinematics,including the analytic expression of the rotation angles of the U joint in the PUS limb,is obtained,and mobility analysis is conducted based on screw *** Jacobian matrix of 5PUS-PRPU is also determined with screw theory and used for the establishment of the objective ***,a global and comprehensive objective function(GCOF)is proposed to represent the Jacobian matrix’s condition *** the genetic algorithm,dimensional synthesis is conducted by minimizing GCOF subject to the given variable *** values of the designed variables corresponding to different configurations of the reconfigurable base are then ***,the optimal structure parameters of the proposed 5-DOF HPM are *** show that the HPM with the optimized parameters has an enlarged orientation workspace,and the maximum angle of the reconfigurable base is decreased,which is conducive to improving the overall stiffness of HPM.

关键词： 5-DOF hybrid manipulator reconfigurable base large workspace dimensional synthesis optimal design

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