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.