Abstract
This paper deals with the kinematics of a novel 5 degrees of freedom (5-DoF) hybrid robot without singularity configurations, which is composed of a 4-DoF parallel robot plus an X table. The 4-limb parallel robot is especially designed as cross-arranged 2-PRU/2-PUS without singularity configurations during moving. Based on the Grassmann linear geometry principle, the residual degree of freedom singularity at the initial position of the 5-DoF robot is studied. Then considering the constraint screws of the parallel robot, the DoF of the hybrid robot is analyzed. On the basis of screw theory, the complete Jacobian matrix is established. And the theoretical model is verified by the numerical example. The complete Jacobian matrix is helpful for further analysis of the complete performance of the hybrid robot.
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Acknowledgements
This work is supported by the National Natural Science Foundation of PR China (NSFC) (Grant no. 51875496), and Science and Technology Planning Project of Hebei Province, China (Grant no. 18961828D).
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Tian, X., Zhao, T., Li, E. (2019). A Novel 5-DOF Hybrid Robot Without Singularity Configurations. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11742. Springer, Cham. https://doi.org/10.1007/978-3-030-27535-8_40
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DOI: https://doi.org/10.1007/978-3-030-27535-8_40
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