Design and Kinematic Analysis of 5-DOF Hybrid Robots
Aiming at the problem that the existing 2R1T parallel mechanism does not satisfy the stability of hole making in the aerospace industry well,a new two-turn-one-transfer parallel mechanism,3SPU-PU,is designed,and based on which a 2-DOF rotary head is designed,a 5-DOF hybrid robot is constructed,which can be used for a certain type of aircraft cockpit cover hole making.Firstly,the degrees of freedom of the 3SPU-PU parallel mechanism are calculated using the modified G-K formula;secondly,the inverse kine-matic analysis of the designed five-degree-of-freedom hybrid robot is carried out using the method of sub-structure synthesis;the theoretical model of the kinematic analysis is verified using ADAMS simulation a-nalysis and MATLAB theoretical calculation;finally,the static analysis of the hybrid robot is carried out u-sing the method of finite element analysis.Finally,the static analysis of the hybrid robot was carried out by using finite element analysis.The results show that the designed hybrid robot has large stiffness and light weight,which can better meet the needs of hole making stability,and the results also lay a theoretical foun-dation for the development of prototype,dynamics analysis and real-time control of hybrid robot.
3SPU-PU parallel mechanismkinematic analysisdegrees of freedomfinite element analysis
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