Design and Analysis of a Novel Hybrid Processing Robot Mechanism

doi:10.1007/s11633-020-1228-1

CASIA OpenIR > 学术期刊 > Machine Intelligence Research

	Design and Analysis of a Novel Hybrid Processing Robot Mechanism
	Hai-Rong Fang; Tong Zhu; Hai-Qiang Zhang; Hui Yang; Bing-Shan Jiang
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2020
卷号	17 期号:3 页码:403-416
摘要	In order to satisfy the requirements of large workspace and high dexterity for processing equipment of oversized cylindrical boxes′ spherical crown surfaces in the aerospace industry, a novel serial-parallel hybrid processing robot mechanism is proposed. The degrees of freedom of the 5PUS-(2UR)PU parallel mechanism are obtained by using the screw theory. The inverse kinematics of the hybrid mechanism are analyzed and the velocity Jacobian matrix is established. Then, the constraints of the main factors influencing workspace of the mechanism are given, and the position and posture workspace are obtained. Next, the dexterity and stiffness performance of the mechanism is analyzed based on the Jacobian matrix. The virtual prototype is established, and the theoretical calculation and simulation analysis of the hybrid mechanism with arc curve as the processing trajectory are carried out by using Matlab and Adams software. The research results show that the mechanism can satisfy the requirements of large workspace and high dexterity of oversized cylindrical boxes′ spherical crown surface processing, and has feasibility and practical application value.
关键词	Hybrid mechanism kinematic analysis large workspace dexterity kinematic simulation.
DOI	10.1007/s11633-020-1228-1
引用统计	被引频次：5[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42289
专题	学术期刊_Machine Intelligence Research
作者单位	School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
推荐引用方式 GB/T 7714	Hai-Rong Fang,Tong Zhu,Hai-Qiang Zhang,et al. Design and Analysis of a Novel Hybrid Processing Robot Mechanism[J]. International Journal of Automation and Computing,2020,17(3):403-416.
APA	Hai-Rong Fang,Tong Zhu,Hai-Qiang Zhang,Hui Yang,&Bing-Shan Jiang.(2020).Design and Analysis of a Novel Hybrid Processing Robot Mechanism.International Journal of Automation and Computing,17(3),403-416.
MLA	Hai-Rong Fang,et al."Design and Analysis of a Novel Hybrid Processing Robot Mechanism".International Journal of Automation and Computing 17.3(2020):403-416.

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