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 

机构地区：[1]Laboratory of Parallel Robot and Mechatronic System of Hebei Province,Yanshan University,Qinhuangdao 066004,China [2]Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education,Yanshan University,Qinhuangdao 006004,China [3]School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China [4]Tencent Robotics X,Tencent Holdings,Shenzhen 518057,China

出　　处：《Chinese Journal of Mechanical Engineering》2022年第5期232-243,共12页中国机械工程学报（英文版）

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).

摘　　要：In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective.In this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are analyzed.Then,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 analyzed.After 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 simulation.Based on the obtained results from the force analysis,the manipulator structure is designed.Then,the structure optimization is carried out to improve the robot stiffness.Finally,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 prototype.This 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.

关 键 词：Hybrid manipulator Over-constrained Kinematic analysis Stiffness analysis 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]