Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator

Abstract

Hybrid robotic application is a continuously developing field, as hybrid robot manipulators have demonstrated clearly to possess benefits of both serial structures and parallel mechanisms. In this article, the physical prototype and the specially designed control system for a new 5-degree-of-freedom hybrid robot manipulator are developed. The mechanical structure, kinematics, dynamics, and control system of this robot manipulator are presented. A newly appropriate set of closed-form solutions, which can avoid multiple solutions, is proposed to address the inverse kinematics problem of this robot manipulator. Additionally, simulations of the kinematics and dynamics of this robot manipulator and the tests for the repeatability and accuracy of both the position and path are first simulated with two numerical examples and then conducted on the physical prototype.

A Robotic Deburring Methodology for Tool Path Planning and Process Parameter Control of a Five-Degree-of-Freedom Robot Manipulator

“…In the previous research, kinematics analysis, dynamics analysis, dexterity analysis, multi-objective smooth trajectory planning and dynamic load-carrying capacity calculation, actual building of mechanical system and motion control system, and tests for the repeatability and accuracy of both the position and path for the five-DOF robot manipulator are conducted. For discussions of these domains and a more detailed listing of related research for the robot manipulator, see [41][42][43][44]. Table 1.…”

Dynamic Model and Inverse Kinematic Identification of a 3-DOF Manipulator Using RLSPSO

“…The prototype of a 5-DOF hybrid manipulator was developed in research conducted by [10]. In this research the mechanical structure, the kinematics, the dynamics and the control system were presented.…”

Kinematic and Dynamic Modelling for a Class of Hybrid Robots Composed of m Local Closed-Loop Linkages Appended to an n-Link Serial Manipulator

“…Class II consists of the hybrid robots which have a basic parallel module combined with a serial manipulator [11][12][13][14][15][16][17][18][19][20][21][22][23][24] (Figure 1b).…”

“…For example, when designing manipulators which suffer a heavy payload and operate in a large workspace, parallelograms were added and hydraulic cylinders were used for driving some revolute joints of the manipulators [26,[28][29][30][31]. The addition of parallelograms to the main arm is to increase the rigidity of Class II consists of the hybrid robots which have a basic parallel module combined with a serial manipulator [11][12][13][14][15][16][17][18][19][20][21][22][23][24] (Figure 1b).…”

“…There have also been attempts working on the modelling and analysis of the hybrid robots Class II [11][12][13][14][15][16][17][18][19][20][21]. A real-time implementation of path planning, trajectory generation, and servo control for a hybrid manipulation was presented in [11].…”