(2-UPS+U)&R串并混联机构工作空间分析

Workspace Analysis of A(2-UPS+U)&R Hybrid Robot

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-UPS+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-UPS+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。

A novel hybrid robot is proposed in this paper ,to help people complete kinds of complicated tasks .The robot adopts the （2-UPS＋ U）＆amp;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 .