Hostname: page-component-76fb5796d-zzh7m Total loading time: 0 Render date: 2024-04-26T18:20:03.477Z Has data issue: false hasContentIssue false
  • English
  • Français

Novel 2R3T and 2R2T parallel mechanisms with high rotational capability

Published online by Cambridge University Press:  21 July 2015

Congzhe Wang ,
Yuefa Fang  and
Hairong Fang
Congzhe Wang
Affiliation:
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, P.R. China
Yuefa Fang*
Affiliation:
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, P.R. China
Hairong Fang
Affiliation:
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, P.R. China
*
*Corresponding author. E-mail: yffang@bjtu.edu.cn
Get access Rights & Permissions [Opens in a new window]

Summary

Large rotational angles about two axes for parallel mechanisms (PMs) with two rotational and three translational (2R3T) degrees of freedom (DOFs) or two rotational and two translational (2R2T) DOFs are demanded in some industries, such as parallel machine tools and multi-axis 3D printing. To address the problem, this paper focuses on the structural synthesis of new 2R3T and 2R2T PMs with high rotational capability. First, two new moving platforms are proposed based on the concepts of decoupled and configurable design. By means of the proposed platforms and Lie group theory, a series of 2R2T and 2R3T PMs are synthesized. Then the inverse kinematics and velocity relationship of one of the synthesized 2R3T PMs are presented. Finally, the rotational capability of the same 2R3T PM is analyzed. The result shows that by means of actuation redundancy, the studied 2R3T PM indeed possesses the high rotational capability about two axes, even though interferences and singularities are taken into consideration.

Keywords

Parallel mechanismRotational capabilityConfigurable platformLie group theoryKinematics
Type
Articles
Information
Robotica , Volume 35 , Issue 2 , February 2017 , pp. 401 - 418
Copyright
Copyright © Cambridge University Press 2015 

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. Gao, F., Peng, B., Zhao, H. and Li, W., “A novel 5-DOF fully parallel kinematic machine tool,” Int. J. Adv. Manuf. Technol. 31 (1–2), 201–207 (2006).Google Scholar
2. Chi, Z., Zhang, D., Xia, L. and Gao, Z., “Multi-objective optimization of stiffness and workspace for a parallel kinematic machine,” Int. J. Mech. Mater. Des. 9 (3), 281–293 (2013).Google Scholar
3. Keating, S. and Oxman, N., “Compound fabrication: A multi-functional robotic platform for digital design and fabrication,” Robot. Comput.-Integr. Manuf. 29 (6), 439–448 (2013).CrossRefGoogle Scholar
4. Piccin, O., Bayle, B., Maurin, B. and de Mathelin, M., “Kinematic modeling of a 5-DOF parallel mechanism for semi-spherical workspace,” Mech. Mach. Theory 44 (8), 1485–1496 (2009).Google Scholar
5. Huang, Z. and Li, Q. C., “General methodology for type synthesis of symmetrical lower-mobility parallel manipulators and several novel manipulators,” Int. J. Robot. Res. 21 (2), 131–145 (2002).Google Scholar
6. Huang, Z. and Li, Q., “Type synthesis of symmetrical lower-mobility parallel mechanisms using the constraint-synthesis method,” Int. J. Robot. Res. 22 (1), 59–79 (2003).Google Scholar
7. Li, Q., Huang, Z. and Herve, J. M., “Type synthesis of 3R2T 5-DOF parallel mechanisms using the Lie group of displacements,” IEEE Trans. Robot. Autom. 20 (2), 173–180 (2004).Google Scholar
8. Zhu, S. J. and Huang, Z., “Eighteen fully symmetrical 5-DoF 3R2T parallel manipulators with better actuating modes,” Int. J. Adv. Manuf. Technol. 34 (3–4), 406–412 (2007).CrossRefGoogle Scholar
9. Kong, X. and Gosselin, C. M., “Type synthesis of 5-DOF parallel manipulators based on screw theory,” J. Robot. Syst. 22 (10), 535–547 (2005).Google Scholar
10. Fang, Y. and Tsai, L. W., “Structure synthesis of a class of 4-DoF and 5-DoF parallel manipulators with identical limb structures,” Int. J. Robot. Res. 21 (9), 799–810 (2002).Google Scholar
11. Masouleh, M. T., Gosselin, C., Husty, M. and Walter, D. R., “Forward kinematic problem of 5-RPUR parallel mechanisms (3T2R) with identical limb structures,” Mech. Mach. Theory 46 (7), 945–959 (2011).CrossRefGoogle Scholar
12. Masouleh, M. T., Gosselin, C., Saadatzi, M. H., Kong, X. and Taghirad, H. D., “Kinematic analysis of 5-RPUR (3T2R) parallel mechanisms,” Meccanica 46 (1), 131–146 (2011).Google Scholar
13. Amine, S., Tale Masouleh, M., Caro, S., Wenger, P. and Gosselin, C., “Singularity analysis of 3T2R parallel mechanisms using Grassmann–Cayley algebra and Grassmann geometry,” Mech. Mach. Theory 52, 326–340 (2012).CrossRefGoogle Scholar
14. Motevalli, B., Zohoor, H. and Sohrabpour, S., “Structural synthesis of 5 DoFs 3T2R parallel manipulators with prismatic actuators on the base,” Robot. Auton. Syst. 58 (3), 307–321 (2010).Google Scholar
15. Krut, S., Rangsri, S. and Pierrot, F., “Eureka: A New 5-Degree-of-Freedom Redundant Parallel Mechanism with High Tilting Capabilities,” Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings of 2003 IEEE/RSJ International Conference, Las Vegas, NV, USA, Vol. 4, pp. 3575–3580.Google Scholar
16. Li, Q. and Huang, Z., “Type synthesis of 4-DOF parallel manipulators,” Robotics and Automation, 2003. Proceedings. ICRA'03. IEEE International Conference on, Taipei, Taiwan, Vol. 1, pp. 755–760 (2003).Google Scholar
17. Gao, F., Yang, J. and Ge, Q., “Type synthesis of parallel mechanisms having the second class GF sets and two dimensional rotations,” ASME J. Mech. Robot. 3 (1), 8 (2010).Google Scholar
18. Fan, C., Liu, H. and Zhang, Y., “Type synthesis of 2T2R, 1T2R and 2R parallel mechanisms,” Mech. Mach. Theory 61 184–190 (2012).Google Scholar
19. Kumar, N., Piccin, O. and Bayle, B., “A task-based type synthesis of novel 2T2R parallel mechanisms,” Mech. Mach. Theory 77, 59–72 (2014).Google Scholar
20. Karger, A. and Husty, M., “Classification of all self-motions of the original Stewart–Gough platform,” Comput.-Aided Des. 30 (3), 205–215 (1998).CrossRefGoogle Scholar
21. Gosselin, C. M. and Hamel, J., “The agile eye: A high –performance three-degree-of-freedom camera-orienting device,” Proceedings of the IEEE International Conference on Robotics and Automation, San Diego (1994) pp. 781–786.Google Scholar
22. Gosselin, C., St Pierre, E. and Gagne, M., “On the development of the agile eye,” IEEE Robot. Autom. Mag. 3 (4), 29–37 (1996).CrossRefGoogle Scholar
23. Kim, J., Hwang, J. C., Kim, J. S., Lurascu, C. C., “Eclipse II: A new parallel mechanism enabling continuous 360-degree spinning plus three-axis translational motions,” IEEE Trans. Robot. Autom. 18 (3), 367–373 (2002).Google Scholar
24. Marquet, F. and Pierrot, F., “A new high-speed 4-DOF parallel robot synthesis and modeling issues,” IEEE Trans. Robot. Autom. 19 (3), 411–420 (2003).Google Scholar
25. Pierrot, F. et al., “Optimal design of a 4-dof parallel manipulator: From academia to industry,” IEEE Trans. Robot. 25 (2), 213–224 (2009).Google Scholar
26. Sun, T. et al., “Topology synthesis of a 1-translational and 3-rotational parallel manipulator with an articulated traveling plate,” J. Mech. Robot. 7 (3), 031015 (2015).CrossRefGoogle ScholarPubMed
27. Song, Y. et al., “Kinematic analysis and optimal design of a novel 1T3R parallel manipulator with an articulated travelling plate,” Robot. Comput.-Integr. Manuf. 30 (5), 508–516 (2014).Google Scholar
28. Gogu, G., “Structural synthesis of fully-isotropic parallel robots with Schönflies motions via theory of linear transformations and evolutionary morphology,” Eur. J. Mech.-A/Solids 26 (2), 242–269 (2007).Google Scholar
29. Huynh, P. and Hervé, J. M., “Equivalent kinematic chains of three degree-of-freedom tripod mechanisms with planar-spherical bonds,” J. Mech. Des. 127, 95–102 (2005).CrossRefGoogle Scholar
30. Hervé, J. M. and Sparacino, F., “Structural Synthesis of Parallel Robots Generating Spatial translation,” Proc. 5th Int. Conf. Advanced Robotics, Pise, Italy, Vol. 1, (1991) pp. 808–813.Google Scholar
31. Gosselin, C. and Angeles, J., “Singularity analysis of closed-loop kinematic chains,” IEEE Trans. Robot. Autom. 6 (3), 281–290 (1990).Google Scholar
32. Merlet, J. P., “Jacobian, manipulability, condition number, and accuracy of parallel robot,” ASME J. Mech. Des. 128 (1), 199–206 (2006).Google Scholar
33. Zanganeh, K. E. and Angeles, J., “Kinematic isotropy and the optimum design of parallel manipulators,” Int. J. Robot. Res. 16 (2), 185–197 (1997).Google Scholar
34. Saglia, J. A., Tsagarakis, N. G., Dai, J. S. and Caldwell, D. G., “A high performance redundantly actuated parallel mechanism for ankle rehabilitation,” Int. J. Robot. Res. 28 (9), 1216–1227 (2009).CrossRefGoogle Scholar
35. He, J., Gao, F. and Dan, Z., “Design and performance analysis of a novel parallel servo press with redundant actuation,” Int. J. Mech. Mater. Des. 10 (2), 145–163 (2014).Google Scholar
36. Liu, X. J. and Kim, J., “A new spatial three-DoF parallel manipulator with high rotational capability,” IEEE/ASME Trans. Mechatronics 10 (5), 502–512 (2005).Google Scholar