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Published in:
2017 | OriginalPaper | Chapter
A Five-Degree-of-Freedom Hybrid Manipulator for Machining of Complex Curved Surface
Authors : Yundou Xu, Jianhua Hu, Dongsheng Zhang, Jiantao Yao, Yongsheng Zhao
Published in: Intelligent Robotics and Applications
Publisher: Springer International Publishing
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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.