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首页> 外文期刊>Robotics and Computer-Integrated Manufacturing >Design of a novel 5-DOF hybrid serial-parallel manipulator and theoretical analysis of its parallel part
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Design of a novel 5-DOF hybrid serial-parallel manipulator and theoretical analysis of its parallel part

机译：一种新型五自由度混合串并联机械手的设计及其并联部分的理论分析

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Parallel mechanisms (PMs) with two rotational degrees-of-freedom (DOF) and one translational DOF (2R1T) have gained much attention, in view of their good comprehensive performance in the field of machine tools. In this paper, a novel 2R1T 2UPU/SP PM is presented, and a 5-DOF hybrid serial-parallel manipulator is constructed on the basis of this novel PM. First, to better understand typical 2R1T PMs, a type synthesis method in virtue of the inner properties of PMs are investigated; in particular, the construction principles for the 2UPU/SP PM are introduced. Second, as the 2UPU/SP PM belongs to an over-constrained 2R1T PM, the constraint force and torque generated on the moving platform (MP) are analyzed in detail, and the rotational axes of the 2UPU/SP PM are obtained. Third, the kinematics of the 2UPU/SP PM are studied systematically, including position, velocity and acceleration analysis; based on the kinematic model, an inverse dynamic model is established using the virtual work principle method. The analysis of this PM shows that its kinematic and dynamic models are quite simple. To confirm the correctness of the kinematic and dynamic models, numerical simulations are performed. Next, the workspace is drawn using MATLAB and CAD softwares, which makes it possible to visualize it fully. Finally, the dimensional synthesis on the basis of the motion/force transmissibility is analyzed and relatively optimized physical dimensions are obtained. This study will enhance the research applications of PM and establish good theoretical foundations for the application of this novel manipulator.
机译：鉴于其在机床领域的良好综合性能，具有两个旋转自由度（DOF）和一个平移DOF（2R1T）的并联机构（PM）受到了广泛的关注。本文提出了一种新型的2R1T 2UPU / SP PM，并在该新型PM的基础上构造了一个5自由度混合串并联机械手。首先，为了更好地理解典型的2R1T PM，研究了一种基于PM内在特性的合成方法。特别介绍了2UPU / SP PM的构造原理。其次，由于2UPU / SP PM属于过度约束的2R1T PM，因此详细分析了在移动平台（MP）上生成的约束力和扭矩，并获得了2UPU / SP PM的旋转轴。第三，系统地研究了2UPU / SP PM的运动学，包括位置，速度和加速度分析。在运动学模型的基础上，采用虚拟工作原理方法建立了逆动力学模型。对此PM的分析表明，其运动学模型和动态模型非常简单。为了确认运动学模型和动力学模型的正确性，进行了数值模拟。接下来，使用MATLAB和CAD软件绘制工作区，从而可以将其完全可视化。最后，分析了基于运动/力传递性的尺寸综合，并获得了相对优化的物理尺寸。这项研究将增强永磁电机的研究应用，并为这种新型机械手的应用奠定良好的理论基础。

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