基于一类含极少运动副四支链两转一移三自由度并联机构的五轴混联机器人

doi:10.7527/S1000-6893.2019.22677

Abstract

Abstract: Firstly, this paper proposes a type of "two rotational degrees of freedom" and "one translational degree of freedom (2R1T) Parallel Mechanisms (PMs) with relatively few kinematic joints and adopting the four branches 2RPU-UPR-RPR and 2UPR-RPU-RPR.Then the concept of the ultimate constraint wrenches is put forward. The ultimate constraint wrenches exerted on the moving platform of 2R1T PMs with four branches are analyzed to verify whether the proposed four-branch 2R1T PMs have extremely fewer kinematic joints compared with the same kinds of mechanisms. Based on the proposed four-branch parallel mechanisms, a novel mechanism for the five-axis hybrid manipulator is constructed, and the inverse position model for the 2RPU-UPR-RPR parallel mechanism is established. The model is equivalent to a serial mechanism of RPR with three-degree-of-freedom, and the forward and inverse position models for the whole mechanism of the hybrid manipulator are analyzed. An explicit analytical expression for the inverse position of the hybrid mechanism is established. Finally, an example of machining a spherical locus is given to verify the correctness of the kinematic models. The five-degrees-of-freedom hybrid manipulator proposed in this paper can easily achieve trajectory planning and motion control because it contains extremely few kinematic joints, and all of its rotational degrees of freedom possess continuous axes and capable of obtaining the analytical expression of the position models. These benefits afford good application prospects for the proposed manipulator.

Key words: 2R1T PMs, five-degrees-of-freedom hybrid manipulator, constraint wrenches, kinematic joints, continuous axes

CLC Number:

V243.4
TG156

XU Yundou, ZHAO Yun, ZHANG Dongsheng, XU Zhenghe, YAO Jiantao, ZHAO Yongsheng. Five-degrees-of-freedom hybrid manipulator based on a class of four-branch parallel mechanisms with two rotational and one translational degrees of freedom containing extremely few kinematic joints[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(6): 422677-422677.

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Five-degrees-of-freedom hybrid manipulator based on a class of four-branch parallel mechanisms with two rotational and one translational degrees of freedom containing extremely few kinematic joints

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