Kinematics and Trajectory Planning of 3-PSS/7R Spatial Hybrid Re-dundantly Driven Mechanism
Qisheng ZHANG,
Ruiqin LI,
Jingjing LIANG
et al.
Abstract:A novel 3-PSS/7R spatial hybrid redundantly driven mechanism (HRDM) is proposed. The mechanism is driven by constant velocity (CV) motor and servo motor at the same time. The CV motor provides the main power for the system, and the servo motor plays the role of motion regulation. This system not only has the advantages of the traditional mechanical system, such as stable operation, large bearing capacity, but also can output controllable and adjustable flexible trajectory. The degrees of freedom of the mechani… Show more
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