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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