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• W4381281822 abstract "Abstract This article presents a hybrid robot for machining the inner cavity of large-scale workpiece, and it is composed of three parts: a mobile device with 1T degree-of-freedom (DoF), a serial module with 1R1T DoFs, and a 2RRU-RRS parallel kinematic mechanism (PKM) with 2R1T DoFs. The 2RRU-RRS PKM has some advantages with a folding structure, only one S joint, two certain rotational axes, and all the fixed actuators. In this article, the conceptual design, theoretical kinematic and dynamic modeling, performance evaluation, and optimization of the parallel system are investigated. A 3D printing model is built to demonstrate the application potential. This article plays an exemplary role in the design of inner-cavity machining hybrid robots." @default.
• W4381281822 created "2023-06-21" @default.
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• W4381281822 date "2023-06-26" @default.
• W4381281822 modified "2023-10-17" @default.
• W4381281822 title "Design of a 2RRU-RRS Parallel Kinematic Mechanism for an Inner-Cavity Machining Hybrid Robot" @default.
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• W4381281822 doi "https://doi.org/10.1115/1.4062649" @default.
• W4381281822 hasPublicationYear "2023" @default.
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