Dynamics of a Hybrid Serial-Parallel Robot for Multi-Tasking Machining Processes

摘要

This paper presents a dynamic analysis of a hybrid serial-parallel robot. The hybrid serial-parallel robot has the features of both high rigidity of the parallel manipulator and wide workspace of the serial manipulator. Thanks to these advantages, the robot is appropriate for multi-tasking machining such as milling, drilling, deburring and grinding. To operate the robot at a high speed, a dynamic analysis on the motion and dynamic load is required. For the analysis, a dynamic analysis program was developed using multi-body dynamics. Using the developed analysis program, the joint reaction force and driving force of the actuator were analyzed. The results can be used in designing a hybrid serial-parallel robot to achieve high positioning accuracy and operation at a high speed