Analysis And Design Of A Novel 6-DOF Hybrid Mechanical Arm

The 6-DOF hybrid mechanical arm, including the shoulder, arm, wrist, affect the performance of the mechanical humanoid robot. In this dissertation, the shoulder and arm of the 6-DOF hybrid mechanical arm are analyzed, respectively.A novel 6-DOF hybrid mechanical arm is proposed, and the spherical 3-DOF parallel mechanism, 5-bar 2-DOF parallel mechanism and 4-bar mechanism, are adopted as the shoulder, upper arm and forearm of the 6-DOF hybrid mechanical arm, and the shoulder, upper arm and forearm are connected in series, which have a lot of advantages of the parallel and series mechanisms.The position and workspace of the shoulder and arm of the 6-DOF hybrid mechanical arm are, respectively, analyzed, in which the workspace of the shoulder and arm of the 6-DOF hybrid mechanical arm are, respectively, presented, and the effect of the parameters of shoulder and arm to the workspace are studied.Since linear velocities and angular velocities and forces and torques have different dimensions, respectively, many kinematics, mechanics and errors performance evaluation indices are proposed based upon the study of the kinematics, mechanics and errors of the shoulder and arm of the 6-DOF hybrid mechanical arm. In addition, the distributions of the evaluation indices in workspace are presented.The global kinematics, mechanics and errors performance evaluation indices are proposed. By using the physical model technique, the relationships between the global performance evaluation indices and the parameters of the 6-DOF hybrid mechanical arm are analyzed within the geometric model of the solution space defined by us, which provided the base for the parameters optimized of the shoulder and arm of the 6-DOF hybrid mechanical arm.The statistics design method of the 6-DOF hybrid mechanical arm is proposed based on the index atlases, and the parameters of the shoulder and arm of the 6-DOF hybrid mechanical arm are optimized by using the statistics design method based on the index atlases. In addition, the prototype of the shoulder and arm of the 6-DOF hybrid mechanical arm are designed based upon the parameters optimized and technics, and the direct and inverse solutions of the 6-DOF hybrid mechanical arm are found based upon position analysis of the 6-DOF hybrid mechanical arm, which provide the foundation for the applications of the 6-DOF hybrid mechanical arm.The experiment for statics of the shoulder of the 6-DOF hybrid mechanical arm is analyzed, and the contour shape of the moving bars are designed based on the distributions of the forces and torques on the moving limbs, which is proposed the foundation for design of the shoulder more.The results and techniques obtained by this dissertation are significant and useful for the design and development of anthropopathic mechanical devices based on the parallel and series mechanism and for the industrialization of the 6-DOF hybrid mechanical arm.