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The paper presents a hybrid structure which has two identical parallel topology mechanisms of FP3 + 6·SPS + MP3 (or MSSM) type, connected in series. The kinematical scheme of this hybrid topology robot, with the structure FP3 + 6·SPS + MP6I + 6·SPS + MP3II, is shown. In the lower mechanism, the mobile platform MP6I is connected to the fixed one FP3 through six SPS kinematical chains. Each chain consists of two binary links, one prismatic joint, P, and two spherical joints, S. The centers of the spherical joints from different SPS kinematical chains are paired, thus resulting in double spherical joints. Similarly, in the upper mechanism, the upper mobile platform MP3II is connected to the lower mobile platform MP6I following the same configuration as in the lower mechanism. The number of degrees of freedom (DOF) of the entire mechanism is computed, and the result is 12 DOF. The prismatic kinematical joints P are selected as driving joints, as indicated by the underlining in the symbolic representation of the robot’s structure. The parts of the hybrid topology robot are modeled by using SolidWorks software. Materials are assigned to the modeled parts. In Motion SolidWorks module, the gravity and the kinematical joints are defined. For given strokes of kinematical joints, the trajectory, velocity, and acceleration of the characteristic points chosen on both mobile platforms are determined. The variations of these parameters versus time are shown.

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Evaluation by Numerical Simulation of Kinematic and Dynamic Parameters of a 12 DOF Hybrid Topology Robot

  • 会议论文

  • 发表日期：

    2026年

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  • Calin-Octavian Miclosina,
  • Zoltan-Iosif Korka,
  • Vasile Cojocaru

摘要

The paper presents a hybrid structure which has two identical parallel topology mechanisms of FP3 + 6·SPS + MP3 (or MSSM) type, connected in series. The kinematical scheme of this hybrid topology robot, with the structure FP3 + 6·SPS + MP6I + 6·SPS + MP3II, is shown. In the lower mechanism, the mobile platform MP6I is connected to the fixed one FP3 through six SPS kinematical chains. Each chain consists of two binary links, one prismatic joint, P, and two spherical joints, S. The centers of the spherical joints from different SPS kinematical chains are paired, thus resulting in double spherical joints. Similarly, in the upper mechanism, the upper mobile platform MP3II is connected to the lower mobile platform MP6I following the same configuration as in the lower mechanism. The number of degrees of freedom (DOF) of the entire mechanism is computed, and the result is 12 DOF. The prismatic kinematical joints P are selected as driving joints, as indicated by the underlining in the symbolic representation of the robot’s structure. The parts of the hybrid topology robot are modeled by using SolidWorks software. Materials are assigned to the modeled parts. In Motion SolidWorks module, the gravity and the kinematical joints are defined. For given strokes of kinematical joints, the trajectory, velocity, and acceleration of the characteristic points chosen on both mobile platforms are determined. The variations of these parameters versus time are shown.