Design of a 5-Axis Macro-Micro Series-Parallel Hybrid Robot Positioning System

Abstract

In this paper, a five-axis macro-micro series-parallel hybrid robot positioning system is designed to enable precision positioning in confined spaces as well as assembly operations. The positioning system incorporates a compliant 3RRR planar three-degree-of-freedom parallel platform, which determines the highest accuracy of the system mechanism. To ensure the fatigue resistance of the compliant 3RRR, this part of the mechanism is made of spring steel and annealed. In addition to this, two more degrees of freedom, rigid rotation and linear, are added to finally achieve five degrees of freedom for spatial positioning. The positioning system has a cylindrical 360-degree full-attitude working space. Finally, after the power-up test, the positioning system can achieve a good positioning effect.