A new way for constructing a kind of five-degrees-of-freedom hybrid manipulator is proposed based on the distribution of rotational axes of the two rotational degrees of freedom for the parallel mechanisms with two-rotation-and-one-translation. Based on the 2-RPU&UPR parallel mechanism, a novel five-axis hybrid manipulator is constructed. The forward and inverse position models of the 2-RPU&UPR parallel mechanism are established, because this parallel mechanism part has two continuous rotational axes, it can be equivalent to a three-degree-of-freedom serial mechanism of RPR. The whole mechanism of hybrid manipulator is equivalent to a combination of four-degree-of-freedom serial mechanism RPRR and a one-degree-of-freedom mobile platform. According to the pose decoupling between these two parts, the forward and inverse position models of the hybrid manipulator are established. An example of machining a spherical locus is given to verify the correctness of the kinematic models. This five-degree-of-freedom hybrid manipulator with all rotational degrees of freedom being of continuous axes, can get analytical expression of the position models, and can realize the trajectory planning and motion control easily, so it has good application prospects.
XU Yundou
,
HU Jianhua
,
ZHANG Dongsheng
,
HOU Zhaowei
,
YAO Jiantao
,
ZHAO Yongsheng
. A Kind of Five Degrees of Freedom Hybrid Robot with All Rotating Shafts Continuous[J]. Journal of Mechanical Engineering, 2018
, 54(21)
: 19
-24
.
DOI: 10.3901/JME.2018.21.019
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