For a 5-axis hybrid engraving robot of type 3-PRS-2P oriented to complex surface machining

a hydrostatic analysis is carried out by using the Jacobian matrix of the mechanism in this paper. Firstly

the structural characteristics of the robot are analyzed

and the vector closure method and differential principle are used to establish the Jacobian matrix of the whole machine. Secondly

combined with the principle of virtual work

the theoretical model of static mechanics is built and the static performance evaluation index is defined. Finally

a program is written through MATLAB to analyze the robot statics and draw the corresponding performance map. The results show that the closer the attitude of the moving platform is to the initial attitude

the better the dexterity of the force/moment carrying capacity is; the structural parameters of the robot have a certain influence on the magnitude of the full-domain performance indexes of the force/moment carrying capacity in the workspace and its distribution law.