Design and Analysis of a New 5-DOF Hybrid Robot Considering Workspace and Force Transmission Efficiency

被引：2

作者：

Xu Y. ^{[1
,2
]}

Xu Z. ^{[1
]}

Yang F. ^{[1
]}

Zhao Y. ^{[1
]}

Mei Y. ^{[1
]}

Zhou Y. ^{[1
,2
]}

Yao J. ^{[1
,2
]}

Zhao Y. ^{[1
]}

机构：

[1] Laboratory of Parallel Robot and Mechatronic System of Hebei Province, Yanshan University, Qinhuangdao, 066004, Hebei

[2] Key Laboratory of Advanced Forging &Stamping Technology and Science, Ministry of Education, Yanshan University, Qinhuangdao, 066004, Hebei

来源：

Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2019年 / 30卷 / 16期

关键词：

5-DOF hybrid robot; Size optimization; Stiffness analysis; Structural design; Workspace;

D O I：

10.3969/j.issn.1004-132X.2019.016.015

中图分类号：

学科分类号：

摘要：

A novel 5-DOF hybrid robot with the structure of R(2RPR)R/SP+RR was proposed, and the performances were analyzed.The size optimizations were carried out according to the performance indexes in both workspaces and force transmission efficiencies, and the key design dimensions were obtained.On the basis of above, the structural design and stiffness analysis of the hybrid robot were conducted.The results of stiffness were compared with other similar typical robots.The workspace of the hybrid robot was analyzed, and finally a method for workspace search was put forward to analyze whether the workspace met the exceptations under different arrangements. © 2019, China Mechanical Engineering Magazine Office. All right reserved.

引用

页码：1996 / 2002

页数：6

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