Novel Five Degrees of Freedom Hybrid Robot Based on 2UPU-2SPR

doi:10.3901/JME.2025.01.114

Abstract

Abstract: A novel two rotational and one translational parallel mechanism based on the 2UPU-2SPR is presented. The R-axis lines of the two SPR limbs are perpendicular, resulting in two spatial layout. Both configurations feature two continuous rotation axes at the base, with each limb providing one constraint, forming a spatial constraint force system. A novel five-degree-of-freedom (5-DOF) hybrid robot for heavy-duty applications is designed based on the proposed 2UPU-2SPR parallel mechanism. Analytical inverse kinematics solutions for this HR are obtained using closed-loop vector method and Sylvester elimination method. By extracting key geometric models and transforming the spatial three-dimensional problem into a two-dimensional plane problem, analytical forward kinematics solutions for the hybrid robot are derived. The correctness of the analytical forward and inverse kinematics models is validated through numerical examples and Adams simulations. Furthermore, the workspace of the hybrid robot is determined, and a virtual prototype design for the 5-DOF hybrid robot is accomplished. The presented HR demonstrates promising prospects in the field of heavy-duty machining.

Key words: 2R1T parallel mechanism, continuous rotation axis, hybrid robot, analytical forward and inverse kinematics solutions

CLC Number:

TP242

ZHANG Zhankui, YUE Yi, WEI Baochen, LI Xiuguang, LIAO Zhongjun, XU Zhaoyang. Novel Five Degrees of Freedom Hybrid Robot Based on 2UPU-2SPR[J]. Journal of Mechanical Engineering, 2025, 61(1): 114-122.

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