Finally, an experimental platform is constructed to evaluate the performance index and meet the expected requirements. Then, the corresponding stiffness, workspace and other performance indices are analyzed. In order to resolve the abovementioned shortcoming, kinematics, workspace and force analyses are conducted in the present study based on a novel design. However, in the actual design of this manipulator, the intersection of two revolute axes of the serial part is located in the circumcircle center of the triangle formed by the moving platform, thereby complicating the kinematic analyses. Then, the kinematic analyses were performed in this regard. proposed a five-DOF hybrid mechanism R(2RPR)R/SP+RR, wherein the intersection of two revolute axes of the serial part (AC swing head) of the mechanism was located on the extension line of the SP limbs. Based on the two-rotation-one-translation (2R1T) parallel mechanism, some machining robots with good application prospects, including Tricept hybrid robots, Exechon hybrid machining center, Sprint Z3 tool head, TriMule and TriVariant hybrid robots, and other robots based on (PUS+R)/PRR/PR, 2-UPR/RPU, 2-RPU/UPR, 2-RPS/SPR, and 2-RPU/UPR/RPR, have been developed so far. Many scholars have conducted in-depth research on the five-DOF hybrid robot. Accordingly, hybrid robots have attracted many researchers and enterprises. Hybrid robots, especially five-degree-of-freedom (DOF) serial-parallel hybrid robots, have the advantages of parallel and serial robots in terms of stiffness and workspace, respectively. Parallel robots have large rigidity and strong carrying capacity, but they have shortcomings, such as small working space and poor flexibility. The serial robot has large workspace and good flexibility, but it is limited in the machining field that requires high precision and rigidity of the robot body. Accordingly, requirements of positioning accuracy and machining flexibility have continuously increased in the past years. With the continuous acceleration of the modernization process, the complexity of specimens involved in high-end manufacturing such as parts of aircraft, automobiles and ships has increased rapidly. This work conducts kinematics, workspace, force analyses, structural optimization design and experiments on the over-constrained hybrid manipulator R(2RPR)R/SP+RR, providing design basis and technical support for the development of the novel hybrid manipulator in practical engineering. Finally, calibration and workspace verification experiments are performed on the prototype, cutting experiment of an S-shaped aluminum alloy workpiece is completed, and the experiment verifies the machining ability of the prototype. Then, the structure optimization is carried out to improve the robot stiffness. Based on the obtained results from the force analysis, the manipulator structure is designed. After that, the force analysis of the over-constrained parallel mechanism is carried out, and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the simulation. Then, the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements, and the actual workspace of the hybrid robot is analyzed. In this paper, kinematics of the hybrid manipulator, including the forward and inverse position, are analyzed. The sum of squared function values, r = 1.665606e-17, is less than sqrt(options.FunctionTolerance) = 1.000000e-03.In the present study, the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective. Warning: matrix singular to machine precision, rcond = 1.04148e-17 warning: called from fsolve>_dogleg_ at line 549 column 5 fsolve at line 365 column 11 h3 at line 3 column 3įsolve stopped because the relative norm of the current step, 3.008031e-16, is less than max(options.StepTolerance^2,eps) = 1.000000e-12. Is there some configuration of tolerances that can be done to get rid of the following in Octave:
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