Dynamic Modeling and Performance Evaluation of a 5-DOF Hybrid Robot for Composite Material Machining

Dynamic performance is an important of robots used for machine processing. This paper studies the dynamic modeling and evaluation method a 5-DOF (Degree Freedom) hybrid robot in aerospace composite material With consideration dynamics serial part, complete model established based on virtual work principle. In addition to widely considered acceleration term, index that comprehensively considers velocity term gravity proposed. Using index, effect placement direction arrangement double symmetric limbs are investigated. The results indicate vertical beneficial robot, has different effects limbs.