Dynamic modeling and design of a 5-DOF hybrid robot for machining

This paper introduces a dynamic modeling and design approach for a novel 5-DOF (degrees of freedom) hybrid robot for machining. It mainly considers three performance indices: the workspace/machine volume ratio, the lateral stiffness, and lower modes, significantly affecting static and dynamic compliances of the robot at the reference configuration. The influences of design variables on the performance indices are systematically investigated, leading to the formulation of the design problem and a comprehensive design strategy for the parallel mechanism within the robot. Then, the proposed method is applied to the dynamic design of the robot, resulting in the development of a full-size prototype ma-chine. Both the numerical simulation and experimental tests illustrate that the designed hybrid robot offers satisfactory static and dynamic behaviors within a relatively large task workspace, thereby fulfilling the essential requirements for robot machining. (c) 2021 Elsevier Ltd. All rights reserved.

Automated summary

This paper presents a dynamic modeling and design approach for a novel hybrid robot for machining, investigating the influences of design variables on performance indices and developing a full-size prototype machine that meets the essential requirements for robot machining.