Design and analysis of hybrid mechanical systems

在许多制造情况下，部件或材料的处理通常由可重新编程的机械装置（例如，机器人操纵器）执行，即，由驱动关节耦合的链接的串联链，因此称为串联操纵器（SM）。另外，并联机械手（PM）是由两个主体耦合的几个串行链上，只有一些关节被驱动，而其他人是被动的。虽然存在后者，但在某些几何条件下，整个机构仍然可以由驱动关节单独驱动。来自被动关节的机械约束提供了相对于其串行对应物的非常有趣的行为，因此，可以用于串行关节的特性不满足应用要求的情况。因此，相对于类似尺寸的系列永磁体，永磁体可以具有更高的承载能力、更高的定位精度或更高的速度，但也具有更小的工作空间、更多的奇异性问题。这些来自微分学的理论预期都是从设计过程开始就充分理解运动传递和仔细控制接头配件的条件。当一个机构不属于这两个特定类别中的任何一个时，它们都被默认归类为混合操纵器（HM），因此包含所有其他可能的运动学架构。最近，《机械与机器理论》杂志发表了一篇关于并联机器人设计的综述论文，并提到，“

In many manufacturing situations, the handling of parts, or materials, is often performed by reprogrammable mechanical devices such as robotic manipulators, i.e., serial chains of links coupled by actuated joints, and thus, called serial manipulators (SMs). Alternatively, parallel manipulators (PMs) are made of two main bodies coupled by several serial chains on which only some joints are actuated, while others are left passive. Although the presence of the latter, the whole mechanism is still drivable by the actuated joints alone under some geometric conditions. The mechanical constraints coming from the passive joints provide very interesting behaviours relative to its serial counterpart, and hence, could be used in situation where the characteristic of serial ones do not satisfy the application requirements. Consequently, PMs could have a higher load-carrying capacity, a higher positioning accuracy or higher velocities, but also a smaller workspace, more problems of singularities, relative to serial ones of similar dimensions. These theoretical expectations coming from the differential calculus are all conditionals to a well understanding of the motion transmission right from the beginning of the design process and a careful control of joint fittings. Whenever a mechanism does not fall into any of these particular two categories, they are all classified by default as hybrid manipulators (HMs), which thus encompass all other possible kinematic architectures. Recently, the journal of Mechanism and Machine Theory published a review paper on the design of parallel manipulators and mentioned that “