Base on RPR/RP+2R+P robot design for machining aluminum alloy structural parts

New energy vehicles are the needs of China to cope with the challenges of energy conservation and emission reduction, and have great development prospects. Aiming at the problem that aluminum alloy is mainly used in the body of new energy vehicles, which requires that the machine tool is dexterous and lightweight, the overall stiffness is moderate, and the precision forming of complex surfaces is realized, a five degree of freedom hybrid robot configuration based on RPR/RP plane parallel is proposed. Firstly, the basic configuration of RPR/RP+2R+P 5-DOF hybrid robot is established, the degree of freedom of the hybrid robot is analyzed and calculated, and the initial prototype structure design of the 5-DOF hybrid robot is completed. Secondly, the forward and inverse solutions of parallel and hybrid configuration positions and velocity Jacobian are solved. Then, the pose space of the 5-DOF hybrid robot is solved ; taking the driving force of the branch rod as the optimization index, and the non-interference of the mechanism operation in the working space as the constraint condition, Adams-Matlab co-simulation was used to quantitatively analyze the influence of various structural parameters on the driving force of the branch, and the linear regression algorithm was used for data fitting to complete the scale optimization of the initial prototype. Finally, taking the stiffness of the hybrid robot and its key components as the optimization index, the finite element analysis method is used to realize the progressive structural adjustment of the initial prototype of the 5-DOF hybrid robot. The modal analysis of the whole machine is carried out to obtain the first six-order vibration characteristics of the robot. Under the premise of meeting the stiffness requirements, the new five-degree-of-freedom hybrid robot for aluminum alloy structural parts processing is beneficial to reduce the manufacturing cost and better realize the visualization of machining process. It provides a new idea for the design of hybrid robot for light and thin structural parts processing.