Workspace Analysis and Design of 3-DOF Hybrid Bionic Manipulator

In order to design a 3-DOF hybrid bionic manipulator based on joint reintegration and bearing capacity. Firstly, the coordinate system of the 3-DOF hybrid manipulator is described, the vector method is used to solve the kinematic positive solution of the manipulator so as to express the pose of the end-effector based on the base coordinates. Second, the workspace of 3-DOF hybrid bionic manipulator is solve, and the workspace distribution map of 3-DOF hybrid bionic manipulator is obtained. The workspace analysis results shows the workspace of 3-DOF hybird bionic manipulator is fan-shaped and nearly symmetrical, structural parameters with larger workspace are obtained. Finally, a virtual prototype of the bionic manipulator is designed based on the obtained structural parameters. The manipulator has good alignment and stability, and can be used in a variety of scenarios.