Abstract
Recently, more and more hybrid robots have been designed to meet the increasing demand for a wide spectrum of applications. However, development of a general and systematic method for kinematic design and dynamic analysis for hybrid robots is rare. Most publications deal with the kinematic and dynamic issues for individual hybrid robots rather than any generalization. Hence, in this paper, we present a novel method for kinematic and dynamic modelling for a class of hybrid robots. First, a generic scheme for the kinematic design of a general hybrid robot mechanism is proposed. In this manner, the kinematic equation and the constraint equations for the robot class are derived in a generalized case. Second, in order to simplify the dynamic modelling and analysis of the complex hybrid robots, a Lemma about the analytical relationship among the generalized velocities of a hybrid robot system is proven in a generalized case as well. Last, examples of the kinematic and dynamic modelling of a newly designed hybrid robot are presented to demonstrate and validate the proposed method.
Highlights
The robotic mechanisms can be categorized into three main groups: the open-loop mechanism, the closed-loop mechanism and the hybrid mechanism
It is shown clearly that, since the kinematic and dynamic modelling of a hybrid robot take into account the constraint equations and the development of hybrid robot products
The proposed method can applied for the kinematic design ofcontrol a robot(the mechanism dynamic analysis) for the robot
Summary
The robotic mechanisms can be categorized into three main groups: the open-loop mechanism, the closed-loop mechanism and the hybrid mechanism. Theclosed-loop main advantages of the serial robots the large workspace, highbetter dexterity of the having kinematic chains have beenare investigated in order tothe obtain kinematic end-effector and themain largeadvantages non-singular the joint variables The of range these of robots are low weight,compact the structure, better group suffer from several drawbacks, such as relatively low stiffness and accuracy, low nominal accuracy and stiffness. Robots which have combined of the serial compact robots and the closed-loop architectures This robots robot group haveand some disadvantages, a small workspace, a complex and more hybrid are designed developed to meetsuch theas increasing demand for a wide mechanical a complex procedure for dynamic modelling and control. It is shown clearly that, since the kinematic and dynamic modelling of a hybrid robot take into account the constraint equations and the development of hybrid robot products
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