关键词: 并联机构, 工作空间, 混联机构, 转动, 自由度

Abstract: Since a new 2-DOF rotation parallel mechanism (RGRR-Ⅰ) has the advantages of less moving parts and large workspace, hybrid serial-parallel 6R robot is invented by using three RGRR-Ⅰ mechanisms in order to realize high stiffness as well as large workspace and compact structure. Replacing position analysis of hybrid serial-parallel mechanisms with position analysis of each less-freedom parallel machine and serial analysis of moving coordinate parameters by establishing the relation between moving coordinate parameters of less-freedom parallel machines and input parameters of machines, a new method of hybrid serial-parallel mechanisms position analysis is proposed in order to reduce the difficulty of position analysis and get result easily. It is very useful for kinematics analysis of other hybrid serial-parallel mechanisms.

Key words: Degree of freedom, Hybrid serial-parallel mechanisms, Parallel mechanisms, Rotation, Workspace