A Novel 5-DOF Hybrid Robot Without Singularity Configurations

被引：1
|
作者：
Tian, Xin [1 ,2 ]
Zhao, Tieshi [1 ,2 ]
Li, Erwei [1 ,2 ]
机构：
[1] Yanshan Univ, Hebei Prov Key Lab Parallel Robot & Mechatron Sys, Qinhuangdao 066004, Hebei, Peoples R China
[2] Yanshan Univ, Key Lab Adv Forging & Stamping Technol & Sci, Minist Educ China, Qinhuangdao 066004, Hebei, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PT III | 2019年 / 11742卷
关键词：
Hybrid robot; Singularity configuration; Screw theory; Complete Jacobian matrix;
D O I：
10.1007/978-3-030-27535-8_40
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper deals with the kinematics of a novel 5 degrees of freedom (5-DoF) hybrid robot without singularity configurations, which is composed of a 4-DoF parallel robot plus an X table. The 4-limb parallel robot is especially designed as cross-arranged 2-PRU/2-PUS without singularity configurations during moving. Based on the Grassmann linear geometry principle, the residual degree of freedom singularity at the initial position of the 5-DoF robot is studied. Then considering the constraint screws of the parallel robot, the DoF of the hybrid robot is analyzed. On the basis of screw theory, the complete Jacobian matrix is established. And the theoretical model is verified by the numerical example. The complete Jacobian matrix is helpful for further analysis of the complete performance of the hybrid robot.
引用
收藏
页码：448 / 457
页数：10
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