Kinematic design of a 5-DOF hybrid robot with large workspace/limb-stroke ratio
Liu, Haitao, Huang, Tian, Mei, Jianping, Zhao, Xueman, Chetwynd, D. G. (Derek G.), 1948-, Li, Meng and Hu, S. Jack. (2007) Kinematic design of a 5-DOF hybrid robot with large workspace/limb-stroke ratio. Journal of Mechanical Design, Vol.129 (No.5). pp. 530-537. ISSN 1050-0472Full text not available from this repository.
Official URL: http://dx.doi.org/10.1115/1.2712220
This paper deals with the conceptual and kinematic designs of a 5-degree of freedom (DOF) reconfigurable hybrid robot. The robot is composed of a 2-DOF parallel spherical mechanism that is serially connected with a 3-DOF open loop kinematic chain via a prismatic joint. Somewhat similar to the well-known Tricept robot, this design has the merit that a relatively large workspace/limb-stroke ratio can be achieved thanks to the decomposition of the motions of the output link into the 2-DOF rotation and 1-DOF translation. As with the Tricept, the robot is well suited for use as a plug-and-play module to configure different machines. The dimensional synthesis of the 2-DOF spherical parallel mechanism is carried out by the monotonical analysis of the design variables versus a global conditioning index represented by the mean of the minimum singular value of the Jacobian, leading to the solution of two nonlinear equations due to the limb length constraint and nearly axial symmetry requirement of the kinematic performance. The results of the dimensional synthesis are given via examples.
|Item Type:||Journal Article|
|Subjects:||T Technology > TJ Mechanical engineering and machinery|
|Divisions:||Faculty of Science > Engineering|
|Journal or Publication Title:||Journal of Mechanical Design|
|Number of Pages:||8|
|Page Range:||pp. 530-537|
|Access rights to Published version:||Restricted or Subscription Access|
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