一种所有转轴均连续的五自由度混联机器人机构

根据两转一移并联机构两转动自由度转轴的分布，提出构造五自由度混联机器人机构构型的新思路，基于2-RPU&UPR并联机构构造一种新型五轴混联机器人机构。建立2-RPU&UPR并联机构的位置正反解模型，由于该并联部分存在两条连续转轴，可将其等效成一个三自由度串联机构RPR，进而将整个混联机器人机构等效为一个四自由度串联机构RPRR和一个移动平台的组合进行分析，根据这两部分位姿之间的解耦性，建立了混联机器人完整的位置正反解模型，并用加工球面轨迹的算例验证了所建运动学模型的正确性。提出的5自由度混联机器人所有转动自由度均具有连续转轴，能够得到解析的位置模型表达式，能够很容易实现轨迹规划与运动控制，具有良好的应用前景。

A Kind of Five Degrees of Freedom Hybrid Robot with All Rotating Shafts Continuous

A new way for constructing a kind of five-degrees-of-freedom hybrid manipulator is proposed based on the distribution of rotational axes of the two rotational degrees of freedom for the parallel mechanisms with two-rotation-and-one-translation. Based on the 2-RPU&UPR parallel mechanism, a novel five-axis hybrid manipulator is constructed. The forward and inverse position models of the 2-RPU&UPR parallel mechanism are established, because this parallel mechanism part has two continuous rotational axes, it can be equivalent to a three-degree-of-freedom serial mechanism of RPR. The whole mechanism of hybrid manipulator is equivalent to a combination of four-degree-of-freedom serial mechanism RPRR and a one-degree-of-freedom mobile platform. According to the pose decoupling between these two parts, the forward and inverse position models of the hybrid manipulator are established. An example of machining a spherical locus is given to verify the correctness of the kinematic models. This five-degree-of-freedom hybrid manipulator with all rotational degrees of freedom being of continuous axes, can get analytical expression of the position models, and can realize the trajectory planning and motion control easily, so it has good application prospects.