Design and Application of a Dual Operation Mode Hybrid Mechanism

Abstract

Serial and parallel configurations are mutually exclusive in performance and structure,this hinders the combination of performance advantages. To solve this problem, a novel hybrid configuration which can realize serial and parallel switching based on a motion bifurcation mechanism is proposed. First, the structure of the new configuration is introduced. Second, the mobility of the reconfigurable arm were analyzed,the mobility characteristic analysis is carried out for the overall manipulator.Then, the specific process of arm mode switching is revealed in order to realize the mode switching control of the arm in the later stage. The mechanism can be applied to both machining and manufacturing robots with a variety of station properties, as well as to the limb structure of multi-habitat bionic robots. In this study, the performance advantages of series and parallel configurations are put into full play, it promotes the practical application of reconfigurable mechanism.