Hostname: page-component-cd9895bd7-gxg78 Total loading time: 0 Render date: 2024-12-24T14:16:01.306Z Has data issue: false hasContentIssue false
  • English
  • Français

Stiffness optimization of a novel reconfigurable parallel kinematic manipulator

Published online by Cambridge University Press:  20 July 2011

Zhongzhe Chi  and
Dan Zhang
Zhongzhe Chi
Affiliation:
University of Ontario Institute of Technology, 2000 Simcoe Street North, Oshawa, ON L1H 7K4, Canada
Dan Zhang*
Affiliation:
University of Ontario Institute of Technology, 2000 Simcoe Street North, Oshawa, ON L1H 7K4, Canada Harbin Institute of Technology Shenzhen Graduate School, Shenzhen University Town, Xili, Shenzhen, China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

This paper proposes a novel design of a reconfigurable parallel kinematic manipulator used for a machine tool. After investigating the displacement and inverse kinematics of the proposed manipulator, it is found that the parasitic motions along x-, y-, and θz-axes can be eliminated. The system stiffness of the parallel manipulator is conducted. In order to locate the highest system stiffness, single and multiobjective optimizations are performed in terms of rotation angles in x- and y-axes and translation displacement in z-axis. Finally, a case study of tool path planning is presented to demonstrate the application of stiffness mapping. Through this integrated design synthesis process, the system stiffness optimization is conducted with Genetic Algorithms. By optimizing the design variables including end-effector size, base platform size, the distance between base platform and middle moving platform, and the length of the active links, the system stiffness of the proposed parallel kinematic manipulator has been greatly improved.

Keywords

DesignParallel manipulatorsStiffness optimizationStiffness controlKinematic modeling
Type
Articles
Information
Robotica , Volume 30 , Issue 3 , May 2012 , pp. 433 - 447
Copyright
Copyright © Cambridge University Press 2011

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Merlet, J. P., Parallel Robots (KIuwer Academic Publishers, Dordrecht, Netherlands, 2000).CrossRefGoogle Scholar
2.Zhang, D., Bi, Z. and Li, B., “Design and kinetostatic analysis of a new parallel manipulator,” Int. J. Robot. Comput.-Integr. Manuf. 25, 782–791 (2009).CrossRefGoogle Scholar
3.Chi, Z. and Zhang, D., “Motion Plan of a Parallel Kinematic Machine Based on Stiffness Control, 2010,” Proceedings of the International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Montreal, Quebec, Canada (Aug. 15–18, 2010) pp. 1219–1258.Google Scholar
4.Huang, T., Mei, J. P., Zhao, X. Y., Zhou, L. H., Zhang, D. W. and Zeng, Z. P., “Stiffness Estimation of a Tripod-Based Parallel Kinematic Machine,” Proceedings of the IEEE International Conference on Robotics and Automation, Seoul Korea (2001) pp. 3280–3285.Google Scholar
5.Tsai, L. W., “The stewart platform of general geometry has 40 configurations,” J. Mech. Des. 115 (2), 277–283 (Jun. 1993).Google Scholar
6.Fichter, E. F., “A stewart platform- based manipulator: General theory and practical construction,” Int. J. Robot. Res. 5, 157–182 (1986).CrossRefGoogle Scholar
7.Pierrot, F., Reynaud, C. and Fournier, A., “DELTA: A simple and efficient parallel robot,” Robotica 8, 105–109 (1990).Google Scholar
8.Tsai, L. W., “Kinematics and optimization of a spatial 3-UPU parallel manipulator,” J. Mech. Des. 122 (4), 439–448 (Dec. 2000).CrossRefGoogle Scholar
9.Li, Y. and Xu, Q., “Design and analysis of a new singularity-free three-prismatic-revolute-cylindrical translational parallel manipulator,” J. Mech. Eng. Sci. 221, 565–577 (Dec. 2005).Google Scholar
10.Li, Y. and Xu, Q., “A novel design of a 3-PRC translational compliant parallel micromanipulator for nanomanipulation,” Robotica 24, 527–528 (2006).Google Scholar
11.Li, Y. and Xu, Q., “Kinematic analysis and design of a new 3-DOF translational parallel manipulator,” J. Mech. Des. 128, 729–737 (2006).CrossRefGoogle Scholar
12.Li, Y. and Xu, Q., “Kinematic analysis of a 3-PRS parallel manipulator,” Robot. Comput.-Integr. Manuf. 23, 395–408 (2007).Google Scholar
13.Kong, X. and Gosselin, C. M., “Kinematics and singularity analysis of a novel type of 3-CRR 3-DOF translational parallel manipulator,” Int. J. Robot. Res. 21, 791–799 (2002).CrossRefGoogle Scholar
14.Koren, Y., Heisel, U., Joveane, F., Morwaki, T., Pritschow, G., Ulsoy, G. and Van Brussel, H., “Reconfigurable manufacturing systems,” Ann. CIRP 48 (2), 527–541.CrossRefGoogle Scholar
15.Li, M., Huang, T., Mei, J. and Zhao, X., “Dynamic formulation and performance comparison of the 3-DOF modules of two reconfigurable PKM-the tricept and the trivariant,” Trans. ASME J. Mech. Des. 127 (5), 1129–1136 (2005).CrossRefGoogle Scholar
16.Huang, T., Li, M., Zhao, M., Mei, J. P., Chetwynd, and Hu, S. J., “Conceptual design and dimensional synthesis for a 3-DOF module of the TriVariant-A novel 5-DOF reconfigurable hybrid robot,” IEEE Transations Robot. 21 (3), 449–456 (Jun. 2005).CrossRefGoogle Scholar
17.Bi, Z. M., Lang, S. Y. T., Verner, M. and Orban, P., “Development of reconfigurable machines,” Int. J. Manuf. Technol. 39, 1227–1251 (2008).CrossRefGoogle Scholar
18.Bi, Z. M., Gruver, W. A., Zhang, W. J. and Lang, S. Y. T., “Automated modeling of modular robotic configurations,” Int. J. Robot. Auton. Syst. 54, 1015–1025 (2006).CrossRefGoogle Scholar
19.Huang, T., Mei, J. P. and Zhao, X. Y., “Stiffness Estimation of a Tripod-based Parallel Kinematic Machine,” Proceedings of the International Conference on Robotics and Automation, Seoul, Korea (May 21–26, 2001) pp. 50–58.Google Scholar
20.Gosselin, C., “Stiffness mapping for parallel manipulators,” IEEE Trans. Robot. Autom. 6 (3), 377–382 (Jun 1990).CrossRefGoogle Scholar
21.EI-Khasawneh, B. S. and Ferreira, P. M., “Computation of stiffness bounds for parallel link manipulators,” Int. J. Mach. Tools Manuf. 39, 321–342 (1999).CrossRefGoogle Scholar
22.Li, Y. and Xu, Q., “Stiffness analysis for a 3-PUU parallel kinematic machine,” Mech. Mach. Theory 43, 186–200 (2008).CrossRefGoogle Scholar