{"title":"内腔加工混合动力机器人2RRU-RRS并联运动机构设计","authors":"Lingmin Xu, Xinxue Chai, Ye Ding","doi":"10.1115/1.4062649","DOIUrl":null,"url":null,"abstract":"Abstract This article presents a hybrid robot for machining the inner cavity of large-scale workpiece, and it is composed of three parts: a mobile device with 1T degree-of-freedom (DoF), a serial module with 1R1T DoFs, and a 2RRU-RRS parallel kinematic mechanism (PKM) with 2R1T DoFs. The 2RRU-RRS PKM has some advantages with a folding structure, only one S joint, two certain rotational axes, and all the fixed actuators. In this article, the conceptual design, theoretical kinematic and dynamic modeling, performance evaluation, and optimization of the parallel system are investigated. A 3D printing model is built to demonstrate the application potential. This article plays an exemplary role in the design of inner-cavity machining hybrid robots.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":"55 1","pages":"0"},"PeriodicalIF":2.2000,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Design of a 2RRU-RRS Parallel Kinematic Mechanism for an Inner-Cavity Machining Hybrid Robot\",\"authors\":\"Lingmin Xu, Xinxue Chai, Ye Ding\",\"doi\":\"10.1115/1.4062649\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Abstract This article presents a hybrid robot for machining the inner cavity of large-scale workpiece, and it is composed of three parts: a mobile device with 1T degree-of-freedom (DoF), a serial module with 1R1T DoFs, and a 2RRU-RRS parallel kinematic mechanism (PKM) with 2R1T DoFs. The 2RRU-RRS PKM has some advantages with a folding structure, only one S joint, two certain rotational axes, and all the fixed actuators. In this article, the conceptual design, theoretical kinematic and dynamic modeling, performance evaluation, and optimization of the parallel system are investigated. A 3D printing model is built to demonstrate the application potential. This article plays an exemplary role in the design of inner-cavity machining hybrid robots.\",\"PeriodicalId\":49155,\"journal\":{\"name\":\"Journal of Mechanisms and Robotics-Transactions of the Asme\",\"volume\":\"55 1\",\"pages\":\"0\"},\"PeriodicalIF\":2.2000,\"publicationDate\":\"2023-06-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Mechanisms and Robotics-Transactions of the Asme\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1115/1.4062649\",\"RegionNum\":4,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ENGINEERING, MECHANICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Mechanisms and Robotics-Transactions of the Asme","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1115/1.4062649","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
Design of a 2RRU-RRS Parallel Kinematic Mechanism for an Inner-Cavity Machining Hybrid Robot
Abstract This article presents a hybrid robot for machining the inner cavity of large-scale workpiece, and it is composed of three parts: a mobile device with 1T degree-of-freedom (DoF), a serial module with 1R1T DoFs, and a 2RRU-RRS parallel kinematic mechanism (PKM) with 2R1T DoFs. The 2RRU-RRS PKM has some advantages with a folding structure, only one S joint, two certain rotational axes, and all the fixed actuators. In this article, the conceptual design, theoretical kinematic and dynamic modeling, performance evaluation, and optimization of the parallel system are investigated. A 3D printing model is built to demonstrate the application potential. This article plays an exemplary role in the design of inner-cavity machining hybrid robots.
期刊介绍：
Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.
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