Abstract
Aiming at the problem that the traditional hybrid-driven mechanism is limited to planar mechanism, the paper presents a 3-PSS/7R Hybrid and Redundantly Driven Mechanism (HRDM for short), which takes advantage of hybrid driven and redundantly driven mechanism, driven by both constant velocity motor and servo motor. The mechanism consists of three PSS limbs with 6-DOF and a middle constrained limb with 7R configuration. The moving platform is constrained to 3-DOF motion. The kinematics model of the mechanism is established, and the kinematics analysis of 3-PSS/7R mechanism is carried out. The Jacobian matrix of the inverse kinematics is derived. The factors that affect the workspace are analyzed .The workspace of the HRDM is solved and verified using numerical method, and the workspace atlas with different orientation angles is obtained.
Highlights
The concept of hybrid-driven mechanism was first proposed by Tokuz [1]
The middle limb of the 3-PSS/7R HRDM consists of the five-bar mechanism CDEFG and link EO2, the degree of freedom of the centre of the moving platform is completely determined by the middle limb
The HRDM workspace is the active area that can be reached by centre of moving platform, which size and shape determine the active space of the mechanism
Summary
The concept of hybrid-driven mechanism was first proposed by Tokuz [1]. This type of mechanism with twodegrees of freedom is controlled by a constant velocity (CV for short) motor (uncontrolled) and a servo motor (real-time control). A novel 3-DOF 3-PSS/7R hybrid redundantly driven mechanism (HRDM for short) is proposed for spatial motion. The middle limb is composed of a planar 5-bar mechanism and a spatial linkage mechanism in series, which is driven by CV motor and servo motor together. The middle limb is composed of a planar five-bar mechanism CDEFG and a connecting link EO2 in series. The frame of the planar five-bar mechanism CDEFG is fixed in the base, which is driven by a CV motor and a servo motor. The moving platform of the 3-PSS/7R mechanism can realize 2T1R (two translations and one rotation) movements within the workspace range by changing the lengths of the three driving links and changing the driving angle of the servo motor. Z2 axis is perpendicular to the moving platform and point away from the mechanism
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