(2-UPS+U)R串并混联机构工作空间分析

摘要

A novel hybrid robot is proposed in this paper ,to help people complete kinds of complicated tasks .The robot adopts the (2-UPS+ U)&R series-parallel leg mechanism and has the characteristics of flexible working space ,lower energy consumption , strong terrain adaptability ,etc .The DOF of the robot is calculated ,the workspace of the robot is analyzed ,and the flexibility of the robot is verified .%提出了一种新型串并混联机器人 ,该机器人腿部采用了3自由度 (2-U PS+ U ) &R串并混联机构 ,具有工作空间灵活、能耗低、地形适应性强等特点.同时还对 (2-U PS+U ) &R串并混联机构的自由度进行了分析计算 ,求解了该机构的工作空间 ,验证了该机构工作时的灵活性.