Hostname: page-component-78c5997874-t5tsf Total loading time: 0 Render date: 2024-11-18T01:16:24.719Z Has data issue: false hasContentIssue false
  • English
  • Français

Kinematics and statics analysis of a novel 4-dof 2SPS+2SPR parallel manipulator and solving its workspace

Published online by Cambridge University Press:  10 November 2008

Yi Lu ,
Ming Zhang ,
Yan Shi  and
JianPing Yu
Yi Lu*
Affiliation:
Robotics Research Centre, School of Mechanical Engineering, Yanshan University Qinhuangdao, Hebei, 066004, P. R. China
Ming Zhang
Affiliation:
Robotics Research Centre, School of Mechanical Engineering, Yanshan University Qinhuangdao, Hebei, 066004, P. R. China
Yan Shi
Affiliation:
Robotics Research Centre, School of Mechanical Engineering, Yanshan University Qinhuangdao, Hebei, 066004, P. R. China
JianPing Yu
Affiliation:
Robotics Research Centre, School of Mechanical Engineering, Yanshan University Qinhuangdao, Hebei, 066004, P. R. China
*
*Corresponding author. E-mail: luyi@ysu.edu.cn
Get access Rights & Permissions [Opens in a new window]

Summary

A novel 4-dof 2SPS+SPR parallel kinematic machine is proposed, and its kinematics, statics, and workspace are studied systematically. First, the geometric constrained equations are established, and the inverse displacement kinematics is analyzed. Second, the poses of active/constrained forces are determined, and the formulae for solving inverse/forward velocities are derived. Third, the formulae for solving inverse/forward accelerations are derived. Finally, a workspace is constructed and its active/constrained forces are solved. The analytic results are verified by its simulation mechanism to be consistent with the calculated ones.

Keywords

Parallel manipulatorKinematicsStaticsWorkspace
Type
Article
Information
Robotica , Volume 27 , Issue 5 , September 2009 , pp. 771 - 778
Copyright
Copyright © Cambridge University Press 2008

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. Niku, S. B., Introduction to Robotics Analysis, Systems, Applications (Pearson Education, Publishing as Prentice Hall, and Publishing House of Electronics Industry, Beijing, 2004).Google Scholar
2. Huang, Z., Kong, L.-F. and Fang, Y.-F., Theory on Parallel Robotics and Control (Machinery Industry Press, Beijing, 1997).Google Scholar
3. Carricato, M., “Fully isotropic four-degrees-of-freedom parallel mechanisms for Schoenflies motion,” Int. J. Rob. Res. 24 (5), 397–414 (2005).CrossRefGoogle Scholar
4. Fang, Y.-F. and Tsai, L. W., “Structure synthesis of a class of 4-dof and 5-dof parallel manipulators with identical limb structures,” Int. J. Rob. Res. 21 (9), 799–810 (2002).CrossRefGoogle Scholar
5. Li, Q. and Huang, Z., “Type Synthesis of 4-dof Parallel Manipulators,” In IEEE International Conference on Robotics and Automation, Taipei (Sep. 14–19, 2003) pp. 755–760.Google Scholar
6. Kong, X. and Gosselin, C. M., “Type synthesis of 3T1R 4-dof parallel manipulators based on screw theory,” IEEE Trans. Rob. Automat. 20 (2), 181–190 (2004).CrossRefGoogle Scholar
7. Company, O., Marquet, F. and Pierrot, F., “A new high speed 4-dof parallel robot. synthesis and modeling issues,” IEEE Trans. Rob. Automat. 19 (3), 411–420 (2003).CrossRefGoogle Scholar
8. Choi, H.-B., Company, O., Pierrot, F., Konno, A., Shibukawa, T., and Uchiyama, M., “Design and control of a novel 4-dofs parallel robot H4,” In IEEE International Conference on Robotics and Automation, Taipei, (Sep. 14–19, 2003) pp. 1185–1190.Google Scholar
9. Alizade, R. I. and Bayram, C., “Structural synthesis of parallel manipulators,” Mech. Mach. Theory 39 (8), 857–870 (2004).CrossRefGoogle Scholar
10. Gao, F., Li, W.-M., Zhao, X.-C., Jin, Z.-L. and Zhao, H., “New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs,” Mech. Mach. Theory 37 (11), 1395–1411 (2002).CrossRefGoogle Scholar
11. Chen, W.-J., “A novel 4-dof parallel manipulator and its kinematic modeling,” In IEEE International Conference on Robotics and Automation, Seoul (May 23–25, 2001) pp. 3350–3355.Google Scholar
12. Gallardo-Alvarado, J., Rico-Martinez, J. M. and Alici, G., “Kinematics and singularity analysis of a 4-dof parallel manipulator using screw theory,” Mech. Mach. Theory 41, 1048–1061 (2006).CrossRefGoogle Scholar
13. Zhang, D. and Gosselin, C. M., “Kinetostatic modeling of N-DOF parallel mechanisms with a passive constraining leg and prismatic actuators,” ASME J. Mech. Des. 123 (3), 375–384 (2001).CrossRefGoogle Scholar
14. Lu, Y. and Hu, B., “Analyzing kinematics and solving active/constrained forces of a 3SPU+UPR parallel manipulator,” Mach. Mech. Theory 42 (10), 1298–1313 (2007).CrossRefGoogle Scholar
15. Joshi, S. A., and Tsai, L. W., “Jacobian analysis of limited-DOF parallel manipulators,” J. Mech. Des., Trans. ASME 124 (2), 254–258 (2002).CrossRefGoogle Scholar
16. Kim, S.-G. and Ryu, J., “New dimensionally homogeneous Jacobian matrix formulation by three end-effector points for optimal design of parallel manipulators,” IEEE Trans. Rob. Automat. 19 (4), 731–737 (2003).Google Scholar
17. Merlet, J. P., “Jacobian, manipulability, condition number, and accuracy of parallel robots,” ASME J. Mech. Des. 128 (1), 199–206 (2006).CrossRefGoogle Scholar
18. Zhou, K., Zhao, J.-S., Tan, Z.-Y. and Mao, D.-Z., “The kinematics study of a class of spatial parallel mechanism with fewer degrees of freedom,” Int. J. Adv. Manuf. Tech. 25 (9–10), 972–978 (2005).CrossRefGoogle Scholar
19. Lu, Y., “Using CAD variation geometry for solving velocity and acceleration of parallel manipulators with 3–5 linear driving limbs,” ASME J. Mech. Des. 128 (4), 738–746 (2006).CrossRefGoogle Scholar
20. Lu, Y., “Using virtual work theory and CAD functionalities for solving driving force and driven force of spatial parallel manipulators,” Mach. Mech. Theory 42 (10), 839–858 (2007).CrossRefGoogle Scholar
21. Dasgupta, B. and Mruthyunjaya, T. S., “A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator,” Mech. Mach. Theory 33 (8), 1135–1152 (1998).CrossRefGoogle Scholar
22. Tsai, L. W., “Solving the inverse dynamics of a Stewart-Gough manipulator by the principle of virtual work,” ASME J. Mech. Des. 122 (1), 3–9 (2000).CrossRefGoogle Scholar
23. Gallardo, J., Rico, J. M., Frisoli, A., Checcacci, D. and Bergamasco, M., “Dynamics of parallel manipulators by means of screw theory,” Mech. Mach. Theory 38 (11), 1113–1131 (2003).CrossRefGoogle Scholar
24. Andrea, R., Rosario, S. and Fengfeng, X., “Static balancing of parallel robots Mechanism and Machine Theory,” Mech. Mach. Theory 40 (2), 191–202 (2005).Google Scholar