Hostname: page-component-78c5997874-s2hrs Total loading time: 0 Render date: 2024-11-05T04:46:05.822Z Has data issue: false hasContentIssue false
  • English
  • Français

Evaluation of Topological Properties of Parallel Manipulators Based on the Topological Characteristic Indexes

Published online by Cambridge University Press:  19 November 2019

Huiping Shen Open the ORCID record for Huiping Shen [Opens in a new window] ,
Ting-Li Yang ,
Ju Li ,
Dan Zhang ,
Jiaming Deng  and
Anxin Liu
Huiping Shen*
Affiliation:
School of Mechanical Engineering, Changzhou University, Jiangsu 213164, China, E-mails: [email protected], [email protected], [email protected]
Ting-Li Yang
Affiliation:
School of Mechanical Engineering, Changzhou University, Jiangsu 213164, China, E-mails: [email protected], [email protected], [email protected]
Ju Li
Affiliation:
School of Mechanical Engineering, Changzhou University, Jiangsu 213164, China, E-mails: [email protected], [email protected], [email protected]
Dan Zhang
Affiliation:
Lassonde School of Engineering, York University, TorontoON M3J1P3, Canada, E-mail: [email protected]
Jiaming Deng
Affiliation:
School of Mechanical Engineering, Changzhou University, Jiangsu 213164, China, E-mails: [email protected], [email protected], [email protected]
Anxin Liu
Affiliation:
Nanjing University of Aeronautics and Astronautics Nanhang Jincheng College, Jiangsu211156, China, E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

The topological structure of a parallel manipulator (PM) determines its intrinsic topological properties (TPs). The TPs further determine essential kinematic and dynamic properties of the mechanism. TPs can be expressed through topological characteristics indexes (TCI). Therefore, defining a set of TCIs is an important issue to evaluate the TPs of PMs. This article addresses the evaluation of topological properties (ETP) of PMs based on TCI. A general and effective ETP method for PMs is proposed. Firstly, 12 TCIs are proposed, including 8 quantitative TCIs, that is, position and orientation characteristics sets (POC), dimension of the POC set, degrees of freedom (DOF), number of independent displacement equations, types and number of an Assur kinematic chain (AKC), coupling degrees of the AKCs, degrees of redundancy and the number of overs; as well as 4 qualitative TCIs, that is, selection of actuated joints, identification of inactive joints, DOF type and Input–Output motion decoupling. Secondly, the ETP method is illustrated by evaluating some well-known PMs including the Delta, Tricept, Exechon, Z3, H4 and the Gough–Stewart platform manipulators, as well as 28 other typical PMs. Via the ETP analysis of these mechanisms also some valuable design knowledge is derived and guidelines for the design of PMs are established. Finally, a 5-DOF decoupled hybrid spraying robot is developed by applying the design knowledge and the design guidelines derived from the ETP analysis.

Keywords

Parallel manipulatorsEvaluation of topological propertiesTopological characteristics indexPosition and orientation characteristicsCoupling degreeSingle-opened-chain unit
Type
Articles
Information
Robotica , Volume 38 , Issue 8 , August 2020 , pp. 1381 - 1399
Copyright
© Cambridge University Press 2019

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

Frisoli, A., Checcaci, F. and Salsedo, F., “Synthesis by screw algebra of translating in-parallel actuated mechanisms,” Adv. Rob. Kinematics, 433–440 (2000).CrossRefGoogle Scholar
Kong, X. and Gosselin, C. M., Type Synthesis of Parallel Mechanisms (Springer, Berlin, Heidelberg, 2007) pp. 45–53.Google Scholar
Li, Q. C., Huang, Z. and Herve, J. M., “Type synthesis of 3R2T 5-DOF parallel mechanisms using the lie group of displacements,” IEEE Trans Robotic Autom. 20(2), 173–180 (2004).CrossRefGoogle Scholar
Gogu, G., Structural Synthesis of Parallel Robots. Part 1:Methodology (Springer, Netherlands, 2008).CrossRefGoogle Scholar
Jin, Q. and Yang, T.-L., “Theory for topology synthesis of parallel manipulators and its application to three dimension translation parallel manipulators,” ASME J Mech. Des . 126(4), 625–639 (2004).CrossRefGoogle Scholar
Yang, T.-L., Liu, A.-X., Jin, Q., Luo, Y.-F., Shen, H.-P. and Hang, L.-B., “Position and orientation characteristic equation for topological design of robot mechanisms,” ASME J. Mech. Des . 131(2), 021001-1-17 (2009).CrossRefGoogle Scholar
Yang, T.-L., Liu, A.-X., Shen, H.-P., Luo, Y.-F., Hang, L.-B. and Shi, Z.-X., “On the correctness and strictness of the position and orientation characteristic equation for topological design of robot mechanisms,” ASME J. Mech. Rob . 5(2), 021009 (2013).CrossRefGoogle Scholar
Yang, T. L., Liu, A., Shen, H., Hang, L., Luo, Y. and Jin, Q., “General Method for Topology Design of Parallel Mechanisms,” In: Topology Design of Robot Mechanisms (Springer, Singapore, 2018) pp. 177–206.CrossRefGoogle Scholar
Shen, H., Yin, H., Wang, Z., Huang, T., Li, J., Deng, J. and Yang, T., “Research on forward position solutions for 6-sps parallel mechanisms based on topology structure analysis,” Chin. J. Mech. Eng. 49(21), 70–80 (2013).CrossRefGoogle Scholar
Shen, H., Yang, L., Meng, Q. and Yin, H.-B., “Topological Structure Coupling-Reducing of Parallel Mechanisms,” Proceedings of 2015 IFToMM World Congress, Taipei (2015) 10.25–29.Google Scholar
Yang, T.-L. and Sun, D.-J., “A general DOF formula for parallel mechanisms and multi-loop spatial mechanisms,” ASME J. Mech. Rob . 4(1), 011001 (2012).CrossRefGoogle Scholar
Xiaorong, Z., Tingli, Y., Sen, Y., Jun, H. and Huiping, S., “Computer-Aided Analysis for Topological Structure of Parallel Mechanisms,” The 8th IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and the 8th IEEE International Conference on Robotics, Automation and Mechatronics (RAM)s, Ningbo, China, 11, 19–21 (2017).Google Scholar
Carricato, M. and Parenti-Castelli, V., “A novel fully decoupled two-degrees-of-freedom parallel wrist,” Int. J. Rob. Res. 23(6), 661–667 (2004).CrossRefGoogle Scholar
Altuzarra, O., Loizaga, M. and Pinto, C., “Synthesis of partially decoupled multi-level manipulators with lower mobility,” Mech. Mach. Theory 45(1), 106–118 (2010).CrossRefGoogle Scholar
Legnani, G., Fassi, I., Giberti, H., Cinquemani, C. and Tosi, D., “A new isotropic and decoupled 6-DOF parallel manipulator,” Mech. Mach. Theory 58, 64–81 (2012).CrossRefGoogle Scholar
Tsai, L. W., “Kinematics of a 3-DOF Platform with Three Extensible Limbs,” In: Recent Advance in Robot Kinematics (Lenarcic, J. and Parenti-Castelli, V. H., eds.) (Kluwer Academic Publishers, Boston, 1996), pp. 401–410.CrossRefGoogle Scholar
Wenger, P. and Chablat, D., “Kinematic Analysis of a New Parallel Machine Tool: The Orthoglide,” In: Advances in Robot Kinematics (Lenarcic, J. and Stanisic, M. L., eds.) (Kluwer Academic Publishers, Boston, 2000), pp. 305–314.CrossRefGoogle Scholar
Baran, E., Ozen, O., Bilgili, D. and Sabanovic, A., “Unified kinematics of prismatically actuated parallel delta robots,” Robotica 37(9), 1513–1532 (2019). doi:10.1017/S0263574719000092.CrossRefGoogle Scholar
Huang, T., Li, Z. X., Li, M., Chetwynd, D. G. and Gosselin, C. M., “Conceptual design and dimensional synthesis of a novel 2-DOF translational parallel robot for pick-and-place operations,” ASME J. Mech. Des . 126(3), 449–455 (2004).CrossRefGoogle Scholar
Dan, W., Rui, F. and Wuyi, C., “Performance enhancement of a three-degree-of-freedom parallel tool head via actuation redundancy,” Mech. Mach. Theory 71, 142–162 (2014).Google Scholar
Bi, Z. M. and Jin, Y., “Kinematic modeling of Exechon parallel kinematic machine,” Rob. Comput. Integr. Manuf. 27(1), 186–193 (2011).CrossRefGoogle Scholar
Neumann, K. E., Robot. US Patent, 1988, 5, No: 4732525.Google Scholar
Pierrot, F., High-Speed Parallel Robot with Four Degrees of Freedom, US20090019960A1. (2009).Google Scholar
Stewart, D., “A platform with six-degree-of-freedom,” Proc. Inst. Mech. Eng. 180(15), 371–378 (1965).CrossRefGoogle Scholar
Yin, H. B., Topological Structure and Kinematics Study of Parallel Mechanisms (Changzhou University, Changzhou, 2014).Google Scholar
Gao, F., Yang, J. L. and Ge, Q. D., GF Set Theory for Type Synthesis of Parallel Mechanisms (Science Press, Beijing, 2011).Google Scholar
Liu, X. J. and Wang, J., Parallel Kinematics – Type, Kinematics and Design (Springer, Berlin, Heidelberg, 2014).CrossRefGoogle Scholar
Li, Q., Chen, Z., Han, Y. and Chen, Q., Intersectional 2-dof Parallel Mechanisms, China patent, No: 201010153843.7 (2010).Google Scholar
Wang, M. X., Wang, P. F., Song, Z. M., Zhao, X. M. and Huang, T., “Static rigidity analysis for a 4-dof hybrid robot,” Chin. J. Mech. Eng. 47(15), 9–16 (2011).CrossRefGoogle Scholar
Rosheim, M., Robotic Manipulator U.S. 5979264. 1999–10Google Scholar
Tsai, L. W., Multi-Degree-of-Freedom Mechanisms for Machine Tools and the Like. U.S. Patent No. 5656905 (1997).Google Scholar
Kim, H. S. and Tsai, L. W., “Evaluation of a Cartesian Parallel Manipulator,” In: Advances in Robot Kinematics (Lenarcic, J. and Thomas, F., eds.) (Kluwer Academic Publishers, Dordrecht, 2002), pp. 21–28.CrossRefGoogle Scholar
Di Gregorio, R., “Kinematics of the 3-RSR wrist,” IEEE Trans. Rob . 20(4), 750–753 (2004).CrossRefGoogle Scholar
Karouia, M. and Herve, J. M., A Three-dof Tripod for Generating Spherical Rotation, Advances in Robot Kinematics (Kluwer Academic Publishers, Boston, 2000), pp. 395–402.Google Scholar
Fang, Y. F. and Tsai, L. W., “Structure synthesis of a class of 3-dof rotational parallel manipulators,” Trans. Rob. Autom. 20(1), 117–121 (2004).CrossRefGoogle Scholar
Zhen, H., Yan, Z. and Jingfang, L., “Kinetostatic analysis of 4-R(CRR) parallel manipulator with overconstraints via reciprocal-screw theory,” Adv. Mech. Eng. 2, 1–11 (2010).Google Scholar
Dimiter, Z. and Gosselin, M., “A family of new parallel architectures with four degrees of freedom,” Electron. J. Comput. Kinematics 1(1), 57–66 (2002).Google Scholar
Wang, J. S. and Ma, L. Z., “Kinematic analysis of novel five-DOF parallel mechanism,” J. Jiangsu Univ. 25(2), 153–156 (2004).Google Scholar
Li, W. M. and Gao, F., “The Structure Design and Analyses of Parallel Milling Machine with 5-DOF,” Modular Mach. Tool Automa. Manuf. Tech. (3), 3–4 (2004).Google Scholar
Chen, H. L., Luo, Y. F., Li, J. X. and Shi, Z. X., “Research on a novel 2T3R parallel manipulator,” Mach. Tool Hydraul. 35(11), 23–24 (2007).Google Scholar
Shen, H., Yin, H., Li, J. and Deng, J., “Position and orientation characteristic based method and enlightenment for topology characteristic analysis of typical parallel mechanisms and its application,” Chin. J. Mech. Eng. 49(21), 71–80 (2013).Google Scholar
Li, J., Zhao, D., Shen, H. and Deng, J., “Design of 5-axes hybrid robot with multi-spray guns for collaborative spraying,” Trans. Chin. Soc. Agric. Mach. 43(4), 216–220 (2012).Google Scholar
Zhao, H. B., The Research and Application of Hybrid Robot Mechanism (Changzhou University, Changzhou, 2012).Google Scholar
Wang, W., Design and Analysis for Parallel /Hybrid Mechanisms Used for Optical Inspection Platforms (Changzhou University, Changzhou, 2012).Google Scholar