Cubic Hybrid Mechanism Based on S[T] Output Base and P/R Input Base

Abstract

Based on the flexibility of single couple of serial mechanism and the stability of multi couples of parallel mechanism, a new type of S[T] output base of hybrid mechanism presented, component of sphere joint run through the tiger joint, this component still the output one with the capability of rotate in three dimensional space. Add serial branch including three translation couple P or/and rotation couple R to the new type of S[T] output base, put these members on one cubic frame, twenty seven configurations obtained with 3-DOF(degree of freedom) allow of three dimensional rotation, twenty seven configurations belong to three conditions obtained with 4-DOF allow of three dimensional rotation and one dimensional translation, nine configurations belong to three conditions obtained with 5-DOF allow of three dimensional rotation and two dimensional translation, one configuration obtained with 6-DOF allow of three dimensional rotation and three dimensional translation, all those sixty four configurations have no more than six translation couple or rotation couple, and the sum of two kind of couple is equal to six. Developing new type of hybrid manipulator based on the hybrid cubic mechanism constructed with S[T] output base and P/R input base will be possible in theory and useful.