Abstract
This paper proposes a novel two rotational degrees of freedom and one translational (2R1T) degree of freedom (DOF) 2UPU-2SPR parallel mechanism (PM). The 2UPU-2SPR exists two different configurations, and both of the two configurations can offer a spatial constraint force system. Using screw theory, it is determined that the mechanism has two ordered continuous rotational axes (CRAs), which verifies the continuity of motion. Based on the 2UPU-2SPR PM, a novel 5-DOF hybrid robot (HR) is presented, and the kinematic inverse solution of the HR is given according to the principle of the closed-loop vector method. Further, the dimension optimization is executed to meet with the workspace requirement, and the geometrical parameters is obtained and the workspace analysis is given. Finally, the virtual prototype of the 5-DOF HR is constructed, which can be used in the field of friction stir welding with the performances both of flexibility and high stiffness.
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Acknowledgement
The paper is supported by the Local Colleges and Universities’ Capacity Building Project of Shanghai (No. 22010501700).
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Yue, Y., Zhang, Z., Wei, B., Zhu, J., Li, X., Liao, Z. (2023). Continuous Rotational Axes and Workspace Analysis of a Novel 2UPU-2SPR Parallel Mechanism. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 147. Springer, Cham. https://doi.org/10.1007/978-3-031-45705-0_61
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DOI: https://doi.org/10.1007/978-3-031-45705-0_61
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