Hostname: page-component-586b7cd67f-vdxz6 Total loading time: 0 Render date: 2024-11-22T09:48:21.308Z Has data issue: false hasContentIssue false
  • English
  • Français

Analysis of kinematics and statics for a novel 6-DoF parallel mechanism with three planar mechanism limbs

Published online by Cambridge University Press:  31 July 2014

Yi Lu ,
Xuepeng Li ,
Canguo Zhang  and
Yang Liu
Yi Lu*
Affiliation:
Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China Parallel Robot and Mechatronic System Laboratory of Hebei Province, Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Qinhuangdao, Hebei, 066004, P. R. China
Xuepeng Li
Affiliation:
Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China
Canguo Zhang
Affiliation:
Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China
Yang Liu
Affiliation:
Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

A novel 6-degree-of-freedom (DoF) parallel manipulator with three planar mechanism limbs is proposed and its kinematics and statics are analyzed systematically. First, the characteristics of the proposed manipulator are analyzed and the degree of freedom is calculated. Second, the formulae for solving the displacement, the velocity, and the acceleration are derived. Third, an analytic example is given for solving the kinematics and statics of this manipulator, and the analytic solved results are analyzed and verified by the simulation mechanism. Finally, a workspace is constructed and analyzed based on a comparison between the proposed manipulator and another 6-DoF parallel manipulator.

Keywords

Parallel manipulatorPlanar mechanism limbsKinematics
Type
Articles
Information
Robotica , Volume 34 , Issue 4 , April 2016 , pp. 957 - 972
Copyright
Copyright © Cambridge University Press 2014 

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.Craig, John J., Introduction to Robotics (Addison-Wesley, New York, 1987).Google Scholar
2.Merlet, J. P., Parallel Robots, 2nd ed. (Springer, New York, NY, 2006).Google Scholar
3.Ben-Horin, P. and Shoham, M., “Singularity analysis of a class of parallel robots based on Grassmann–Cayley algebra,” Mech. Mach. Theory 41 (6), 958–970 (2006).Google Scholar
4.Zhang, D., Parallel Robotic Machine Tools (Springer, New York, NY, 2010) p. 37.Google Scholar
5.Huang, Z., Li, Q. and Ding, H., Theory of Parallel Mechanisms (Springer, New York, NY, 2013).CrossRefGoogle Scholar
6.Aginaga, J., Zabalza, I. and Altuzarra, O., “Nájera J. Improving static stiffness of the 6-RUS parallel manipulator using inverse singularities,” Robot. Comput. Integr. Manuf. 28, 458–471 (2012).CrossRefGoogle Scholar
7.Li, H. D., Gosselin, C. M. and Richard, M. J., “Determination of the maximal singularity-free zones in the six-dimensional workspace of the general Gough–Stewart platform,” Mech. Mach. Theory 42 (4), 497–511 (2007).Google Scholar
8.Jiang, H. Z., Tong, Z. Z. and He, J. F., “Dynamic isotropic design of a class of Gough–Stewart parallel manipulators lying on a circular hyperboloid of one sheet,” Mech. Mach. Theory 46 (3), 358–374 (2011).Google Scholar
9.Tong, Z., He, J. F., Jiang, H. Z. and Duan, G. R., “Optimal design of a class of generalized symmetric Gough–Stewart parallel manipulators with dynamic isotropy and singularity-free workspace,” Robotica, 30 (2), 305–314 (2012).Google Scholar
10.Shim, J. H., Kwon, D. S. and Cho, H. S., “Kinematic analysis and design of a six D.O.F. 3-PRPS in-parallel manipulator,” Robotica 17, 269–281 (1999).Google Scholar
11.Lee, M. K. and Park, K. W., “Workspace and singularity analysis of a double parallel manipulator,” IEEE/ASME Trans. Mechatronics 5 (4), 367–375 (2000).Google Scholar
12.Wu, Y. N. and Gosselin, C. M., “Synthesis of reactionless spatial 3-DoF and 6-DoF mechanisms without separate counter-rotations,” Int. J. Robot. Res. 23 (6), 625–642 (2004).Google Scholar
13.Gogu, G., “T2R1-type parallel manipulators with bifurcated planar-spatial motion. T2R1-type parallel manipulators with bifurcated planar-spatial motion,” Eur. J. Mech. A 33 (5), 1–11 (2012).Google Scholar
14.Yoon, J. and Ryu, J., “A novel locomotion interface with two 6-DOF parallel manipulators that allows human walking on various virtual terrains,” Int. J. Robot. Res. 25 (7), 689–708 (2006).CrossRefGoogle Scholar
15.Yu, J. J., Dai, J. S., Bi, S. S. and Zong, G. H., “Numeration and type synthesis of 3-DOF orthogonal translational parallel manipulators,” Prog. Nat. Sci. 18 (6), 563–574 (2008).Google Scholar
16.Yang, G., Chen, I. M., Chen, W. and Lin, W., “Kinematic design of a six-DOF parallel-kinematics machine with decoupled-motion architecture,” IEEE Trans. Robot. Autom. 20 (5), 876–884 (2004).Google Scholar
17.Cervantes-Sánchez, J. J., Rico-Martínez, J. M., Pacheco-Gutiérrez, S. and Cerda-Villafaña, G., “Static analysis of spatial parallel manipulators by means of the principle of virtual work,” Robot. Comput. Integr. Manuf. 28 (3), 385–401 (2012).Google Scholar
18.Lu, Y. and Hu, B., “Unification and simplification of velocity/acceleration of limited Dof parallel manipulators with linear active legs,” Mech. Mach. Theory 43 (9), 1112–1128 (2008).CrossRefGoogle Scholar
19.Russo, A., Sinatra, R. and Xi, F. F., “Static balancing of parallel robots,” Mech. Mach. Theory 40 (2), 191–202 (2005).Google Scholar
20.Nokleby, S. B., Fisher, R., Podhorodeski, R. P. and Firmani, F., “Force capabilities of redundantly actuated parallel manipulators,” Mech. Mach. Theory 40 (5), 578–599 (2005).Google Scholar
21.Chakarov, D., “Study of the passive compliance of parallel manipulators,” Mech. Mach. Theory 34 (3), 373–389 (1999).Google Scholar
22.Hong, M. B. and Choi, Y. J., “Formulation of unique form of screw based Jacobian for lower mobility parallel manipulators,” J. Mech. Robot. 3 (1), 23–30 (2010).Google Scholar
23.Stock, M. and Miller, K., “Optimal kinematic design of spatial parallel manipulators: Application to linear Delta robot,” ASME J. Mech. Des. 125 (4), 292–299 (2003).Google Scholar
24.Lu, Y., “Using virtual work theory and CAD functionalities for solving active force and passive force of spatial parallel manipulators,” Mech. Mach. Theory 42 (7), 839–858 (2007).Google Scholar