Dynamic modeling and design of a 5-DOF hybrid robot for machining. (November 2021)

• Record Type: Journal Article
• Authors: Dong, Chenglin; Liu, Haitao; Xiao, Juliang; Huang, Tian
• Is Part Of: Mechanism and machine theory. Volume 165(2021)
• Publication Date: 2021-11
• Subjects: Hybrid robot -- Parallel kinematic machine -- Optimal design; Machine theory -- Periodicals; Machinery -- Periodicals; Machines -- Périodiques; Génie mécanique -- Périodiques; Machine theory; Machinery; Periodicals; 621.81
• DOI: 10.1016/j.mechmachtheory.2021.104438
• Languages: English
• ISSNs: 0094-114X

Abstract

Highlights: Dynamic modeling and design approach for a novel 5-DOF hybrid robot is presented; Influences of key design variables on the performance indices are systematically investigated; Numerical simulation and experimental tests illustrate the effectiveness of the approach. Abstract: This paper introduces a dynamic modeling and design approach for a novel 5-DOF (degrees of freedom) hybrid robot for machining. It mainly considers three performance indices: the workspace/machine volume ratio, the lateral stiffness, and lower modes, significantly affecting static and dynamic compliances of the robot at the reference configuration. The influences of design variables on the performance indices are systematically investigated, leading to the formulation of the design problem and a comprehensive design strategy for the parallel mechanism within the robot. Then, the proposed method is applied to the dynamic design of the robot, resulting in the development of a full-size prototype machine. Both the numerical simulation and experimental tests illustrate that the designed hybrid robot offers satisfactory static and dynamic behaviors within a relatively large task workspace, thereby fulfilling the essential requirements for robot machining.