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Design and Analysis of a Novel Hybrid Processing Robot Mechanism

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Abstract

In order to satisfy the requirements of large workspace and high dexterity for processing equipment of oversized cylindrical boxes’ spherical crown surfaces in the aerospace industry, a novel serial-parallel hybrid processing robot mechanism is proposed. The degrees of freedom of the 5PUS-(2UR)PU parallel mechanism are obtained by using the screw theory. The inverse kinematics of the hybrid mechanism are analyzed and the velocity Jacobian matrix is established. Then, the constraints of the main factors influencing workspace of the mechanism are given, and the position and posture workspace are obtained. Next, the dexterity and stiffness performance of the mechanism is analyzed based on the Jacobian matrix. The virtual prototype is established, and the theoretical calculation and simulation analysis of the hybrid mechanism with arc curve as the processing trajectory are carried out by using Matlab and Adams software. The research results show that the mechanism can satisfy the requirements of large workspace and high dexterity of oversized cylindrical boxes’ spherical crown surface processing, and has feasibility and practical application value.

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Acknowledgements

This work was supported by Fundamental Research Funds for the Central Universities (No. 2018JBZ007).

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Authors and Affiliations

  1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, 100044, China

    Hai-Rong Fang, Tong Zhu, Hai-Qiang Zhang, Hui Yang & Bing-Shan Jiang

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  1. Hai-Rong Fang
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  2. Tong Zhu
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Correspondence to Hai-Rong Fang.

Additional information

Hai-Rong Fang received the B. Eng. degree in mechanical engineering from Nanjing University of Science and Technology, China in 1990, the M. Eng. degree in mechanical engineering from Sichuan University, China in 1996, and the Ph. D. degree in mechanical engineering from Beijing Jiaotong University, China in 2005. She worked as an associate professor in Department of Engineering Mechanics, Beijing Jiaotong University, China from 2003 to 2011. She is a professor in School of Mechanical Engineering from 2011 and director of Robotics Research Center.

Her research interests include parallel mechanisms, digital control, robotics and automation, and machine tool equipment.

Tong Zhu received the B. Eng. degree in mechanical engineering from Beijing Jiaotong University, China in 2017. Currently, he is a master student at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China.

His research interests include robotics in computer integrated manufacturing and parallel kinematics machine tool.

Hai-Qiang Zhang received the B. Eng. degree in mechanical design and theories from Yantai University, China in 2012, the M. Eng. degree in mechanical engineering from Hebei University of Engineering, China in 2015. He is a Ph. D. degree candidate at Beijing Jiaotong University, China.

His research interests include robotics in computer integrated manufacturing, parallel kinematics machine tool, redundant actuation robots, over-constrained parallel manipulators, and multi-objective optimization design.

Hui Yang received the B. Eng. degree in mechanical engineering from Beijing Jiao-tong University, China in 2014. She is currently a Ph. D. degree candidate at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China.

Her research interests include robotics in computer integrated manufacturing and parallel kinematics machine tool.

Bing-Shan Jiang received the B. Eng. degree in mechanical electronic engineering from Liaoning Technical University, China in 2015, and the M. Eng. degree in mechanical engineering from Liaoning Technical University, China in 2017. He is currently a Ph. D. degree candidate at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China.

His research interests include synthesis, kinematics, dynamics and control of parallel robots.

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Fang, HR., Zhu, T., Zhang, HQ. et al. Design and Analysis of a Novel Hybrid Processing Robot Mechanism. Int. J. Autom. Comput. 17, 403–416 (2020). https://doi.org/10.1007/s11633-020-1228-1

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