In modern industrial applications,robot has become one of the most important parts,which has significant application prospects in the fields of simulation,logistics and machine processing.Actually,compared with parallel mechanisms' compact structure,higher load capacity and higher stiffness,serial robots have the advantages of bigger workspace and easier control,which can be complementary with parallel mechanisms.Thus,hybrid manipulators,especially 5-degree-of-freedom (DOF) hybrid manipulators,combine the merits of both serial robots and parallel mechanisms.Firstly,the structure description of a novel 5-DOF hybrid manipulator was done.The parallel part of the hybrid manipulator 2RPU/UPR contained two continuous rotational axes.Secondly,the dimension optimization of the 5-DOF hybrid manipulator was introduced in detail.Then,mechanical design and analysis about the main parts of the hybrid manipulator were finished,and structure optimization was performed.Finally,finite element simulations considering different positions and orientations were achieved.The results before and after optimized hybrid manipulator were analyzed,which showed that the stiffness of the optimized manipulator was improved and the mass of it was reduced.The 5-DOF hybrid manipulator had the characteristics of owning continuous rotational axes,simple structure and less single DOF joint,which allowed for a very variety of application prospects.More importantly,the research would enhance the research applications of robot and lay good theoretical foundations for the application of this novel manipulator.%串联机器人具有较大的工作空间且易于控制等优势,与并联机构的高刚度有着良好的互补性.因此,五自由度混联机器人兼具串、并联机器人的优点而成为主要研究方向.本文对五自由度混联机器人构型进行阐述,该混联机器人的并联部分为存在2条连续转轴的两转一移并联机构2RPU/UPR;较系统地对该五自由度混联机器人关键尺寸进行了优化设计;对混联机器人的关键部件的机械结构进行了设计与分析,并对其进行了结构优化;对优化前后整机进行有限元静力学仿真,并对优化前后仿真结果进行了对比分析.结果显示,优化后该五自由度混联机器人的整体刚度得到提升,且整机的质量进一步减轻,有助于节约机器人的制造成本,提高机器人的动态性能.
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