Design and Analysis of a Novel Hybrid Processing Robot Mechanism

作     者：Hai-Rong Fang Tong Zhu Hai-Qiang Zhang Hui Yang Bing-Shan Jiang Hai-Rong Fang;Tong Zhu;Hai-Qiang Zhang;Hui Yang;Bing-Shan Jiang

作者机构：School of MechanicalElectronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China 

基　　金：This work was supported by Fundamental Research Funds for the Central Universities(No.2018JBZ007) 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2020年第17卷第3期

页      码：403-416页

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 *** degrees of freedom of the 5PUS-(2UR)PU parallel mechanism are obtained by using the screw *** inverse kinematics of the hybrid mechanism are analyzed and the velocity Jacobian matrix is ***,the constraints of the main factors influencing workspace of the mechanism are given,and the position and posture workspace are ***,the dexterity and stiffness performance of the mechanism is analyzed based on the Jacobian *** 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 *** 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.

主 题 词：Hybrid mechanism kinematic analysis large workspace dexterity kinematic simulation 

学科分类：080202[080202] 08[工学] 0804[工学-材料学] 082503[082503] 0802[工学-机械学] 0825[工学-环境科学与工程类] 

核心收录：

D　O　I：10.1007/s11633-020-1228-1

馆 藏 号：203924925...