Design, Analysis and Performance Optimization of a Novel Super-redundantly Actuated Hybrid Robot

doi:10.3901/JME.2024.03.055

Abstract

Abstract: A novel super-redundantly actuated hybrid machining robot with five degree of freedom is proposed, and the key structure of the robot is designed, analyzed and optimized. The analysis of freedom is operated based on screw theory. The topological configuration of the robot is studied, and its structure is designed. Motion/force transfer performance is analyzed in combination with local and global indicators. The transfer performance is optimized based on performance map and structural parameters of dimensionless. Optimal structural parameters and transfer performance distribution of mechanism are obtained. Full pose space of high-quality at the optimal structural parameters is studied. Considering the joint movement restriction and the interference conditions of the mechanism movement, the posture space of the mechanism is analyzed. The research is of great referent significance for the research and application of hybrid robot with five degrees of freedom.

Key words: super-redundant actuation, hybrid robot, design analysis, motion transfer, performance optimization, workspace

CLC Number:

TP242

LIU Xiaofei, WAN Bo, WANG Yu, LI Mingyu, ZHAO Yongsheng. Design, Analysis and Performance Optimization of a Novel Super-redundantly Actuated Hybrid Robot[J]. Journal of Mechanical Engineering, 2024, 60(3): 55-67.

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