Type Synthesis of 5-DOF Hybrid (Parallel-Serial) Manipulators Designed from Open Kinematic Chains

被引:5
作者
Antonov, Anton [1 ]
Fomin, Alexey [1 ]
Glazunov, Victor [1 ]
Petelin, Daniil [1 ]
Filippov, Gleb [1 ]
机构
[1] Russian Acad Sci IMASH RAN, Mech Engn Res Inst, Mech Theory & Machines Struct Lab, Moscow 101000, Russia
基金
俄罗斯科学基金会;
关键词
type synthesis; 5-DOF hybrid (parallel-serial) mechanism; 3-DOF parallel mechanism; serial (open) kinematic chain; 3T2R and 3R2T motion patterns; DEGREE-OF-FREEDOM; FLEXURE SYSTEM CONCEPTS; STRUCTURAL SYNTHESIS; SPATIAL MECHANISMS; SCREW THEORY; ROBOT; OPTIMIZATION; ENUMERATION; FAMILY;
D O I
10.3390/robotics12040098
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
The article proposes an approach for synthesizing hybrid (parallel-serial) manipulators with five degrees of freedom (5-DOF) using open kinematic chains. The method idea consists in taking an open kinematic chain, selecting a subchain within it, and replacing the subchain with a parallel mechanism. The article considers 5-DOF open chains and 3-DOF subchains, substituted for 3-DOF parallel mechanisms with the same motion pattern as the subchain. Thus, synthesized hybrid manipulators have a 3-DOF parallel part and a 2-DOF serial part. First, we grouped 26 structures of open chains with revolute and prismatic joints into five types and 78 subtypes. Next, for each type, we selected one subtype and presented several hybrid mechanisms that can correspond to it. We considered hybrid manipulators that included 3-DOF parallel mechanisms with planar, spherical, and other commonly used motion types. The suggested synthesis method is intuitive for a designer, and it does not need any mathematical formulations like screw theory or group theory approaches.
引用
收藏
页数:13
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