Abstract
Parameter optimization for a novel 3-DOF hybrid mechanical arm was presented by using a statistics method called the statistics parameters optimization method based on index atlases. Several kinematics and mechanics performance evaluation indices were proposed and discussed, according to the kinematics and mechanics analyses of the mechanical arm. Considering the assembly technique, a prototype of the 3-DOF hybrid mechanical arm was developed, which provided a basis for applications of the 3-DOF hybrid mechanical arm. The novel 3-DOF hybrid mechanical arm can be applied to the modern industrial fields requiring high stiffness, lower inertia and good technological efficiency. A novel 6-DOF hybrid humanoid mechanical arm was built, in which the present mechanical arm was connected with a spherical 3-DOF parallel manipulator.
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