5自由度混联机器人设计与运动学分析  

Design and Kinematic Analysis of 5-degree-of-freedom Hybrid Robot

作　　者：姚璐 谢聪琳 史春海 SHI Chunhai;YAO Lu;XIE Conglin(Sigma(Tianjin)Technology Development Co.Ltd.,Tianjin 300110,China;Hemei Zhihui(Tianjin)Science and Technology Innovation Co.Ltd.,Tianjin 300110,China;Ruilian Intelligent Control(Tianjin)Technology Co.Ltd.,Tianjin 300110,China)

机构地区：[1]西格斯(天津)科技发展有限公司,天津300110 [2]合美智汇(天津)科创有限公司,天津300110 [3]瑞联智控(天津)科技有限公司,天津300110

出　　处：《科技和产业》2025年第8期86-90,共5页Science Technology and Industry

摘　　要：针对现有并联机器人不能满足航空航天制孔稳定性问题,设计一种新型5自由度混联机器人(5-DOF)。该机器人集成并联机构与现有回转头的优势,由三条特殊用途单元(special purpose unit,SPU)支链和一条从动单元(passive unit,PU)支链构成,具有独特的机构布局和稳固的结构支撑。验证了该机器人在运动性能方面的优越性,解决了航空航天制孔的稳定性问题,其在高端制造领域如航天航空的应用前景广阔。A new type of five degree of freedom hybrid robot(5-DOF)was designed to address the stability issue of aerospace drilling that could not be met by existing parallel robots.The robot integrates the advantages of parallel mechanisms and existing rotary heads,consisting of three Special Purpose Unit(SPU)branches and one Passive Unit(PU)branch,with a unique mechanism layout and stable structural support.Through kinematic analysis of the parallel mechanism and 5-DOF(5-Degrees of Freedom)rotor,as well as position inverse analysis of the hybrid robot,the superiority of the robot in terms of motion performance is verified,providing useful reference for improving robot performance.

关 键 词：5-DOF 混联机器人 设计 运动学分析 

分 类 号：F832.6[经济管理—金融学] F752.6