典型文献
Kinematic, Workspace and Force Analysis of A Five?DOF Hybrid Manipulator R(2RPR)R/SP+RR
文献摘要：
In the present study, the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objec-tive. 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 manipu-lator structure is designed. Then, the structure optimization is carried out to improve the robot stiffness. Finally, cali-bration 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.
文献关键词：
中图分类号：
作者姓名：
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 Province,Yan-shan University,Qinhuangdao 066004,China;Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Educa-tion,Yanshan University,Qinhuangdao 006004,China;School of Mechani-cal Engineering,Yanshan University,Qinhuangdao 066004,China;Tencent Robotics X,Tencent Holdings,Shenzhen 518057,China
文献出处：
引用格式：
[1]Yundou Xu;Fan Yang;Youen Mei;Dongsheng Zhang;Yulin Zhou;Yongsheng Zhao-.Kinematic, Workspace and Force Analysis of A Five?DOF Hybrid Manipulator R(2RPR)R/SP+RR)[J].中国机械工程学报,2022(05):222-233
A类：
2RPR,SP+RR
B类：
Kinematic,Workspace,Force,Analysis,Five,DOF,Hybrid,Manipulator,In,present,study,over,constrained,hybrid,manipulator,considered,research,objec,tive,this,paper,kinematics,including,forward,inverse,position,are,analyzed,Then,workspace,checked,solution,evaluate,whether,meets,requirements,actual,robot,After,that,force,analysis,parallel,mechanism,carried,out,ADAMS,rigid,flexible,body,model,established,verify,simulation,Based,obtained,results,from,structure,designed,optimization,improve,stiffness,Finally,cali,bration,verification,experiments,performed,prototype,cutting,shaped,aluminum,alloy,workpiece,completed,verifies,machining,ability,This,conducts,analyses,structural,providing,basis,technical,support,development,novel,practical,engineering
AB值：
0.50623
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