Performance And Simulation Analysis Of Five Degree Of Freedom Hybrid Robot Based On 2RPU/SPR Mechanism

This paper is mainly about the mechanism、property、Structural Design、simulation of 5-DOF of Mixed-Connected Robot composed by 2RPU/SPR parallel mechanism、Swing head and moving platform. The main research works are summarized as follows;Explained the various components of the connection type and movement characteristics of kinematic pairs, Describe the 2RPU/SPR parallel mechanism and Mixed-Connected Robot. Using the modified formula Kutzbach-Grubler and Screw Theory Calculate the degree of freedom of 2RPU/SPR parallel mechanism. Using Homogeneous transformation matrix to do Kinematics forward and Inverse solution for 2RPU/SPR and Swing head respectively. then Kinematics forward and Inverse solution for 2RPU/SPR+R+P.Got the Speed expressions by Deriving of position Forward and Inverse of 2RPU/SPR+R+P. and established Speed Jacoby matrix.The static force acted on the moving platform of 2RPU/SPR is analyzed.Established the Static model of 2RPU/SPR and 2RPU/SPR+R+P. Study the constraint force and driving force only with the gravity,get the Force Jacobian matrix at the same timeAnalyse the workspace of 2RPU/SPR,explain the factors that influence the workspace. Computing the max Corner of every kind of Joints.using Limit boundary searching method to get the workspace of 2RPU/SPR+R+P.and 2RPU/SPR.Compare the different workspace under different structure parameters. the singularity of 2RPU/SPR was analyzed to make sure when and where that singularity. occurredOptimized design of the structure of 2RPU/SPR+R+P. Get Structure layout and Strength stiffness analysis renderings about parts and entirety respectively For 2RPU / SPR parallel mechanism through dynamic analysis yields the velocity, acceleration expression, and analysis of the branched driving force.The modeling and simulating methods based on the technologies of virtual prototype was used on Mixed-Connected Robot.simulate the Kinematics, statics and dynamics and compare with theoretical results. Analyze whether there are problems in this Mixed-Connected Robot to make sure mechanism use the best optimal structure. Choose the motor and drive unit based on the simulation.