Type Synthesis of 5-DOF Series-parallel based on Single-opened-chain and Position and Orientation Characteristic Set

Bangcheng Zhang; Yage Wang; Yu Yao; Qifei Peng

doi:10.16578/j.issn.1004.2539.2021.09.006

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Type Synthesis of 5-DOF Series-parallel based on Single-opened-chain and Position and Orientation Characteristic Set

Theory·Reserach | 更新时间：2022-11-10

- Type Synthesis of 5-DOF Series-parallel based on Single-opened-chain and Position and Orientation Characteristic Set
- Journal of Mechanical Transmission Vol. 45, Issue 9, Pages: 40-46(2021)
- 作者机构：
  
  1.长春工业大学机电工程学院，吉林长春 130012
  2.长春工业大学应用技术学院，吉林长春 130012
  3.中国第一汽车集团有限公司，吉林长春 130013
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.09.006
  CLC：
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张邦成,王亚阁,姚禹等.基于单开链和方位特征集的5-DOF串并联构型综合[J].机械传动,2021,45(09):40-46.

Zhang Bangcheng,Wang Yage,Yao Yu,et al.Type Synthesis of 5-DOF Series-parallel based on Single-opened-chain and Position and Orientation Characteristic Set[J].Journal of Mechanical Transmission,2021,45(09):40-46.
张邦成,王亚阁,姚禹等.基于单开链和方位特征集的5-DOF串并联构型综合[J].机械传动,2021,45(09):40-46. DOI： 10.16578/j.issn.1004.2539.2021.09.006.

Zhang Bangcheng,Wang Yage,Yao Yu,et al.Type Synthesis of 5-DOF Series-parallel based on Single-opened-chain and Position and Orientation Characteristic Set[J].Journal of Mechanical Transmission,2021,45(09):40-46. DOI： 10.16578/j.issn.1004.2539.2021.09.006.

摘要

根据单开链和方位特征集设计了一种5自由度串并联机器人，并对5自由度串并联机器人构型综合和自由度进行计算分析，验证了所提出的机构符合设计要求。再进一步探讨了5自由度串并联机器人的运动学，对并联机构的位置逆解和动平台速度进行分析。运用Adams软件对设计的5自由度串并联机器人进行仿真分析，并验证机构的可行性。结果表明，该机构具有运动比较平稳、工作空间大等特点，对5自由度串并联机构多驱动器控制提供了参考依据。

Abstract

A 5-DOF series-parallel robot is designed based on the single-opened-chain and position and orientation characteristic set， and the configuration synthesis and degrees of freedom of the 5-DOF series-parallel robot are calculated and analyzed to verify that the proposed mechanism meets the design requirements. The kinematics of the 5-DOF series-parallel robot is further discussed， and the position inverse solution of the parallel mechanism and the speed of the moving platform are analyzed. The Adams software is used to simulate the designed 5-DOF series-parallel robot to verify the feasibility of the mechanism. The results show that the proposed mechanism has the characteristics of relatively stable motion and large working space， which provides a reference basis for the multi-drive control of the 5-DOF series-parallel mechanism.

关键词

5自由度串并联机构单开链方位特征集运动学

Keywords

5-DOFSeries-parallel mechanismSingle-opened-chainPosition and orientation characteristic setKinematics

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