Skip to main content
Springer Nature Link
Log in

Design and Analysis of a Novel Hybrid Processing Robot Mechanism

  • Research Article
  • Published:
International Journal of Automation and Computing Aims and scope Submit manuscript

Abstract

In order to satisfy the requirements of large workspace and high dexterity for processing equipment of oversized cylindrical boxes’ spherical crown surfaces in the aerospace industry, a novel serial-parallel hybrid processing robot mechanism is proposed. The degrees of freedom of the 5PUS-(2UR)PU parallel mechanism are obtained by using the screw theory. The inverse kinematics of the hybrid mechanism are analyzed and the velocity Jacobian matrix is established. Then, the constraints of the main factors influencing workspace of the mechanism are given, and the position and posture workspace are obtained. Next, the dexterity and stiffness performance of the mechanism is analyzed based on the Jacobian matrix. The virtual prototype is established, and the theoretical calculation and simulation analysis of the hybrid mechanism with arc curve as the processing trajectory are carried out by using Matlab and Adams software. The research results show that the mechanism can satisfy the requirements of large workspace and high dexterity of oversized cylindrical boxes’ spherical crown surface processing, and has feasibility and practical application value.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. C. S. G. Lee, M. Ziegler. Geometric approach in solving inverse kinematics of PUMA robots. IEEE Transactions on Aerospace and Electronic Systems, vol. AES-20, no. 6, pp. 695–706, 1984. DOI: 10.1109/TAES.1984.310452.

    Article  Google Scholar 

  2. A. Omodei, G. Legnani, R. Adamini. Three methodologies for the calibration of industrial manipulators: Experimental results on a SCARA robot. Journal of Robotic Systems, vol. 17, no. 6, pp. 291–307, 2000.

    Article  Google Scholar 

  3. A. Nubiola, I. A. Bonev. Absolute calibration of an ABB IRB 1600 robot using a laser tracker. Robotics and Computer-Integrated Manufacturing, vol. 29, no.1, pp. 236–245, 2013. DOI: 10.1016/j.rcim.2012.06.004.

    Article  Google Scholar 

  4. A. Pashkevich, D. Chablat, P. Wenger. Stiffness analysis of overconstrained parallel manipulators. Mechanism and Machine Theory, vol. 44, no.5, pp. 966–982, 2009. DOI 10.1016/j.mechmachtheory.2008.05.017.

    Article  Google Scholar 

  5. H. Q. Zhang, H. R. Fang, B. S. Jiang. Motion-force trans-missibility characteristic analysis of a redundantly actuated and overconstrained parallel machine. International Journal of Automation and Computing, vo. 16, no. 2, pp. 150–162, 2019. DOI: 10.1007/s11633-018-1156-5.

    Article  Google Scholar 

  6. B. S. Jiang, H. R. Fang, H. Q. Zhang. Type synthesis and kinematics performance analysis of a class of 3T2R parallel mechanisms with large output rotational angles. International Journal of Automation and Computing, vol. 16, no.6, pp. 775–785, 2019. DOI: 10.1007/s11633-019-1192-9.

    Article  Google Scholar 

  7. M. Mazare. M. Taghizadeh, M. R. Najafi. Kinematic analysis and design of a 3-DOF translational parallel robot. International Journal of Automation and Computing, vol. 14, no.4, pp. 432–441, 2017. DOI: 10.1007/s11633-017-1066-y.

    Article  Google Scholar 

  8. Z. Ga, D. Zhang. Performance analysis mapping and multiobjective optimization of a hybrid robotic machine tool. IEEE Transactions on Industrial Electronics, vol. 62, no.1, pp. 423–433, 2015. DOI: 10.1109/TIE.2014.2327008.

    Article  Google Scholar 

  9. F. Gao, B. B. Peng, H. Zhao, W. M. Li. A novel 5-DOF fully parallel kinematic machine tool. The International Journal of Advanced Manufacturing Technology, vol. 31, no. 1–2, pp. 201–207, 2006. DOI: 10.1007/s00170-005-0171-1.

    Article  Google Scholar 

  10. S. Kucuk. Dexterous workspace optimization for a new hybrid parallel robot manipulator. Journal of Mechanisms and Robotics, vol. 10, no. 6, Article number 064503, 2018. DOI: 10.1115/1.4041334.

    Google Scholar 

  11. T. K. Tanev. Kinematics of a hybrid (parallel-serial) robot manipulator. Mechanism and Machine Theory, vol. 35, no.9, pp. 1183–1196, 2000. DOI: 10.1016/S0094-114X(99)00073-7.

    Article  Google Scholar 

  12. F. G. Xie, X. J. Liu, H. Zhang, J. S. Wang. Design and experimental study of the SPKM165, a five-axis serial-parallel kinematic milling machine. Science China Technological Sciences, vol. 54, no.5, pp. 1193–1205, 2011. DOI 10 1007/s11431-011-4314-3.

    Article  Google Scholar 

  13. F. Q. Zhao, S. Guo, Z. C. Xu, D. Li. Design and analysis of high performance machine tool based on redundant parallel mechanism. Journal of Central South University (Science and Technology), vol. 50, no.1, pp. 67–74, 2019. DOI: 10.11817/j.issn.1672-7207.2019.01.010. (in Chinese)

    Google Scholar 

  14. B. Siciliano. The Tricept robot: Inverse kinematics, ma-nipulability analysis and closed-loop direct kinematics algorithm. Robotica, vol. 17, no.4, pp. 437–445, 1999. DOI: 10.1017/S0263574799001678.

    Article  Google Scholar 

  15. Z. M. Bi, Y. Jin. Kinematic modeling of Exechon parallel kinematic machne. Robotics and Computer-Integrated Manufacturing, vol. 27, no.1, pp. 186–193, 2011. DO: 10.1016/j.rcim.2010.07.006.

    Article  Google Scholar 

  16. Y. Q. Zhao, Y. Jin, J. Zhang. Kinetostatic modeling and analysis of an exechon parallel kinematic machine (PKM) module. Chinese Journal of Mechanical Engineering, vol. 29, no. 1, pp. 33–44, 2016. DOI: 10.3901/CJME.2015.1012.120.

    Article  Google Scholar 

  17. B. B. Lian, T. Sun, Y. M. Song, Y. Jin, M. Price. Stiffness analysis and experiment of a novel 5-DOF parallel kinematic machine considering gravitational effects. International Journal of Machine Tools and Manufacture, vol. 95, pp. 82–96, 2015. DOI: 10.1016/j.ijmachtools.2015.04.012.

    Article  Google Scholar 

  18. T. Huang, M. Li, X. M. Zhao, J. P. Mei, D. G. Chetwynd, S. J. Hu. Conceptual design and dimensional synthesis for a 3-DOF module of the TriVariant-a novel 5-DOF recon-figurable hybrid robot. IEEE Transactions on Robotics, vol. 21, no. 3, pp. 449–456, 2005. DOI: 10.1109/TRO.2004.840908.

    Article  Google Scholar 

  19. H. T. Liu, T. Huang, J. P. Mei, X. M. Zhao, D. G. Chetwynd, M. Li, S. J. Hu. Kinematic design of a 5-DOF hybrid robot with large workspace/limb-stroke ratio. Journal of Mechanical Engineering, vol. 129, no.5, pp. 530–537, 2007. DOI: 10.1115/1.2712220.

    Google Scholar 

  20. C. L. Dong, H. T. Liu, W. Yue, T. Huang. Stiffness modeling and analysis of a novel 5-DOF hybrid robot. Mechanism and Machine Theory, vol. 125, pp. 80–93, 2018. DOI: 10.1016/j.mechmachtheory.2017.12.009.

    Article  Google Scholar 

  21. Y. M. Song, B. B. Lian, T. Sun, G. Dong, Y. Qi, H. Gao. A novel five-degree-of-freedom parallel manipulator and its kinematic optimization. Journal of Mechanisms and Robotics, vol. 6, no. 4, Article number 041008, 2014. DOI: 10.1115/1.4027742.

    Google Scholar 

  22. H. Yang, H. R. Fang, Y. F. Fang, H. B. Qu. Kinematics performance and dynamics analysis of a novel parallel perfusion manipulator with passive link. Mathematical Problems in Engineering, vol. 2018, Article number 6768947, 2018. DOI: 10.1155/2018/6768947.

    MathSciNet  Google Scholar 

  23. H. Yang, H. R. Fang, D. Li, Y. F. Fang. Kinematics analysis and multi-objective optimization of a novel parallel perfusion robot. Journal of Beijing University of Aeronautics and Astronautics, vol. 44, no.3, pp. 568–575, 2018. DOI: 10.13700/j.bh.1001-5965.2017.0157. (in Chinese)

    Google Scholar 

  24. M. Toz, S. Kucuk. Dimensional optimization of 6-DOF 3-CCC type asymmetric parallel manipulator. Advanced Robotics, vol. 28, no.9, pp. 625–637, 2014. DOI: 10.1080/01691864.2014.884935.

    Article  Google Scholar 

  25. F. G. Xie, X. J. Liu, Z. You, J. S. Wang. Type synthesis of 2T1R-type parallel kinematic mechanisms and the application in manufacturing. Robotics and Computer-Integrated Manufacturing, vol. 30, no.1, pp. 1–10, 2014. DOI: 10.1016/j.rcim.2013.07.002.

    Article  Google Scholar 

  26. Y. Kakinuma, K. Igarashi, S. Katsura, T. Aoyama. Development of 5-axis polishing machine capable of simultaneous trajectory, posture, and force control. CIRP Annals, vol. 62, no.1, pp. 379–382, 2013. DOI: 10.1016/j.cirp.2013.03.135.

    Article  Google Scholar 

  27. D. C. Zhu, Z. M. Yan, X. F. Cui, P. Li. Kinematics analysis and simulation of 3-RPS-type parallel robot based on screw theory. Mechanical Science and Technology for Aerospace Engineering, vol. 32, no.1, pp. 28–31, 2013. DOI: 10.13433/j.cnki.1003-8728.2013.01.010. (in Chinese)

    Google Scholar 

  28. G. Coppola, D. Zhang, K. F. Liu. A 6-DOF reconfigurable hybrid parallel manipulator. Robotics and Computer-Integrated Manufacturing, vol. 30, no.2, pp. 99–106, 2014. DOI: 10.1016/j.rcim.2013.09.011.

    Article  Google Scholar 

  29. X. J. Liu, Z. L. Jin, F. Gao. Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indices. Mechanism and Machine Theory, vol. 35, no.9, pp. 1257–1267, 2000. DOI: 10.1016/S0094-114X(99)00072-5.

    Article  Google Scholar 

Download references

Acknowledgements

This work was supported by Fundamental Research Funds for the Central Universities (No. 2018JBZ007).

Author information

Authors and Affiliations

  1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, 100044, China

    Hai-Rong Fang, Tong Zhu, Hai-Qiang Zhang, Hui Yang & Bing-Shan Jiang

Authors
  1. Hai-Rong Fang
    View author publications

    You can also search for this author inPubMed Google Scholar

  2. Tong Zhu
    View author publications

    You can also search for this author inPubMed Google Scholar

  3. Hai-Qiang Zhang
    View author publications

    You can also search for this author inPubMed Google Scholar

  4. Hui Yang
    View author publications

    You can also search for this author inPubMed Google Scholar

  5. Bing-Shan Jiang
    View author publications

    You can also search for this author inPubMed Google Scholar

Corresponding author

Correspondence to Hai-Rong Fang.

Additional information

Hai-Rong Fang received the B. Eng. degree in mechanical engineering from Nanjing University of Science and Technology, China in 1990, the M. Eng. degree in mechanical engineering from Sichuan University, China in 1996, and the Ph. D. degree in mechanical engineering from Beijing Jiaotong University, China in 2005. She worked as an associate professor in Department of Engineering Mechanics, Beijing Jiaotong University, China from 2003 to 2011. She is a professor in School of Mechanical Engineering from 2011 and director of Robotics Research Center.

Her research interests include parallel mechanisms, digital control, robotics and automation, and machine tool equipment.

Tong Zhu received the B. Eng. degree in mechanical engineering from Beijing Jiaotong University, China in 2017. Currently, he is a master student at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China.

His research interests include robotics in computer integrated manufacturing and parallel kinematics machine tool.

Hai-Qiang Zhang received the B. Eng. degree in mechanical design and theories from Yantai University, China in 2012, the M. Eng. degree in mechanical engineering from Hebei University of Engineering, China in 2015. He is a Ph. D. degree candidate at Beijing Jiaotong University, China.

His research interests include robotics in computer integrated manufacturing, parallel kinematics machine tool, redundant actuation robots, over-constrained parallel manipulators, and multi-objective optimization design.

Hui Yang received the B. Eng. degree in mechanical engineering from Beijing Jiao-tong University, China in 2014. She is currently a Ph. D. degree candidate at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China.

Her research interests include robotics in computer integrated manufacturing and parallel kinematics machine tool.

Bing-Shan Jiang received the B. Eng. degree in mechanical electronic engineering from Liaoning Technical University, China in 2015, and the M. Eng. degree in mechanical engineering from Liaoning Technical University, China in 2017. He is currently a Ph. D. degree candidate at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China.

His research interests include synthesis, kinematics, dynamics and control of parallel robots.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Fang, HR., Zhu, T., Zhang, HQ. et al. Design and Analysis of a Novel Hybrid Processing Robot Mechanism. Int. J. Autom. Comput. 17, 403–416 (2020). https://doi.org/10.1007/s11633-020-1228-1

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11633-020-1228-1

Keywords