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A Five-Degree-of-Freedom Hybrid Manipulator for Machining of Complex Curved Surface

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10463))

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Abstract

In this paper, a novel five-axis hybrid manipulator is constructed based on the 2-RPU&UPR parallel mechanism, which has less joints and all the axes of rotation are continuous. Then, the structure of the key components of the new five-axis hybrid manipulator is designed. Next, the analytic expression of the inverse position of the hybrid manipulator is established, based on which, the workpiece of the spherical surface is machined. All rotational degrees of freedom of this five-axis hybrid manipulator are of continuous axes, the analytical expression of the inverse position model can be obtained, so the trajectory planning and motion control can be realized easily. Moreover, the hybrid manipulator has less joints, which can guarantee high rigidity and high precision operation, so it has great application prospects.

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Acknowledgment

This work was supported by the National Natural Science Foundation of China under Grant 51405425, and Key Basic Research Program of Hebei Province’s Applied Basic Research Plan of China under Grant 15961805D.

Author information

Authors and Affiliations

  1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, 066004, China

    Yundou Xu, Jianhua Hu, Dongsheng Zhang, Jiantao Yao & Yongsheng Zhao

  2. Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, 066004, China

    Yundou Xu, Jiantao Yao & Yongsheng Zhao

Authors
  1. Yundou Xu
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  2. Jianhua Hu
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  3. Dongsheng Zhang
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  4. Jiantao Yao
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  5. Yongsheng Zhao
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Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Xu, Y., Hu, J., Zhang, D., Yao, J., Zhao, Y. (2017). A Five-Degree-of-Freedom Hybrid Manipulator for Machining of Complex Curved Surface. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_5

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  • DOI: https://doi.org/10.1007/978-3-319-65292-4_5

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65291-7

  • Online ISBN: 978-3-319-65292-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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