Dynamics analysis of hybrid parallel robot

This work focused on dynamics analysis and simulation of the 5-DOF hybrid parallel robot. A hybrid parallel robot is proposed in this study. Two serial rotation joints were added to the delta robot, which improved the robot degrees of freedom to 5. Based on energy equation, dynamics equation was deduced. The hybrid parallel robot model was built in Solidworks and then imported into ADMAS to do the simulation. The lines of torque, velocity and angle of each joint were drawn to analyse the movement, dynamics and statics characteristic.

I. Introduction

Based on delta robot, 5-DOF hybrid parallel robot consists of base, movable platform, drive arm, follower arm and a 2-DOF serial mechanism. The robot can achieve three translational movements by three identical branches which distribute in 120°. Each branch has a drive arm and a follower arm. The follower arm is a parallelogram. The four vertices of the parallelogram are ball hinges. At the end of the Delta robot, there are two serial rotation joints. The mechanical model of the 5- DOF hybrid parallel robot is shown in Fig. 1. Fig. 1.

5-DOF hybrid parallel robot