The invention discloses a parameter
integrated design method for a five-degree-of-freedom
hybrid robot. The parameter
integrated design method comprises the following steps of: taking a
working space midpoint as a reference point, taking
kinematics performances as constraint conditions, and taking maximum
working space volume as a target to determine scale parameters of a mechanism; taking static rigidity performances as constraints, and taking elastic
kinematics performances as an optimization target to determine key structural parameters of a part; and determining parameters of a
servo motor based on drive joint equivalent rotational
inertia, rotation speed and rotation torque during motion along typical track. According to the parameter
integrated design method disclosed by the invention,
kinematics,
statics and dynamics performances of the
robot are comprehensively taken into consideration with the adoption of a hierarchical idea, so that integrated design of scale, structure and drive parameters can be realized.
Kinematics,
statics and dynamics performances, on any configuration, of the
robot are mainly related to motion / force transmissibility of the mechanism, and therefore, parameters can be designed on a
working space center to ensure global performances of the robot, and design
workload can be greatly saved.