Electronic Science and Technology ›› 2019, Vol. 32 ›› Issue (12): 37-43.doi: 10.16180/j.cnki.issn1007-7820.2019.12.008

Previous Articles     Next Articles

Kinematics Analysis and Simulation for a Novel 5-DOF Serial-Parallel Robot

CHEN Jiupeng,SAN Hongjun,LI Pengfei,ZHANG Daoyi,XIONG Binzhou   

  1. Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,China
  • Received:2018-12-11 Online:2019-12-15 Published:2019-12-24
  • Supported by:
    National Key R & D Projects(2017YFC1702503)


Parallel robots have higher strength stiffness, but the working space is smaller; tandem robots have larger working space, but the strength stiffness is smaller. With the advantages of both parallel mechanisms and serial mechanisms, the serial-parallel mechanism has more extensive application prospects. In this paper, a novel 5-DOF serial-parallel robot was introduced to realize the machining of complex curved surface. The structure characteristics and motion properties were analyzed and the degree of freedom was calculated by screw theory. The forward and inverse kinematic solution of robot were deduced by numerical and analytical method respectively. The 3D model of the robot was built with SolidWorks and imported into ADAMS for kinematics simulation. The results showed that the robot could realize the processing of complex surface, and could provide help for industrial production.

Key words: 5-DOF serial-parallel robot, screw theory, SolidWorks, ADAMS, simulation, direct and inverse solutions

CLC Number: 

  • TP242.3