Kinematics and Workspace Atlas of 3-PSS/7R Hybrid Redundantly Driven Mechanism

Aiming at the problem that the traditional hybrid-driven mechanism is limited to planar mechanism, the paper presents a 3-PSS/7R Hybrid and Redundantly Driven Mechanism (HRDM for short), which takes advantage of hybrid driven and redundantly driven mechanism, driven by both constant velocity motor and servo motor. The mechanism consists of three PSS limbs with 6-DOF and a middle constrained limb with 7R configuration. The moving platform is constrained to 3-DOF motion. The kinematics model of the mechanism is established, and the kinematics analysis of 3-PSS/7R mechanism is carried out. The Jacobian matrix of the inverse kinematics is derived. The factors that affect the workspace are analyzed .The workspace of the HRDM is solved and verified using numerical method, and the workspace atlas with different orientation angles is obtained.