Research Papers

Workspace Decomposition Based Dimensional Synthesis of a Novel Hybrid Reconfigurable Robot

[+] Author and Article Information
Tao Sun

School of Mechanical Engineering, Tianjin University, Tianjin 300072, P.R. Chinasuntaotju@gmail.com

Yimin Song1

School of Mechanical Engineering, Tianjin University, Tianjin 300072, P.R. Chinaymsong@tju.edu.cn

Yonggang Li

School of Mechanical Engineering, Tianjin University of Technology and Education, Tianjin 300222, P.R. Chinalygang1975@163.com

Jun Zhang

School of Mechanical Engineering, Tianjin University, Tianjin 300072, P.R. Chinazhang_jun@tju.edu.cn


Corresponding author.

J. Mechanisms Robotics 2(3), 031009 (Jul 21, 2010) (8 pages) doi:10.1115/1.4001781 History: Received October 20, 2009; Revised March 27, 2010; Published July 21, 2010; Online July 21, 2010

A novel 5-axis hybrid reconfigurable robot named Tricept-IV, including one 4-degree-of-freedom (4DOF) hybrid module and one 2DOF end effector, is investigated. Compared with extensive research that has been pursued for the parallel kinematic machines such as Tricept, Sprint Z3 Head, and so on, the hybrid kinematic machines have not adequately been studied. This paper demonstrates a method of workspace decomposition applied in the dimensional synthesis of a 4DOF hybrid module, which is the underlying architecture of the newly invented robot. This paper starts with an introduction of the Tricept-IV robot. After dividing the 4DOF hybrid module into one position-orientation coupling (POC) subsystem and one position-feed (PF) subsystem, its workspace is decomposed into POC and PF subspaces accordingly, and then the inverse position problem may be solved by means of one prejudgment method. Furthermore, the Jacobian matrix of the POC subsystem is obtained by the screw theory so as to formulate its kinematic performance index. Finally, the dimensional synthesis based on workspace decomposition of the hybrid module is carried out by taking a global view of the dimensional synthesis of these two subsystems.

Copyright © 2010 by American Society of Mechanical Engineers
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Figure 1

Virtual prototype of Tricept-IV robot: (a) front view, (b) UP̱S limb, (c) vertical view, and (d) UPP̱ limb. 1, fixed base; 2, S joint; 3, base of end effector; 4, moving platform; 5, UPP̱ limb; 6, motor; 7, UP̱S limb; 8, lead screw; 9, bearing; 10, U joint; 11, U joint with slider; 12, P̱ limb; 13, fixed nut; and 14, motor.

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Figure 2

Workspace of Tricept-IV robot: (a) accessible workspace W and (b) task workspace wt

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Figure 3

Schematic diagram of 4DOF hybrid module

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Figure 4

Front view of task workspace

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Figure 5

Screws of POC subsystem

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Figure 6

Variations in κ¯ versus λH/b, λa/b, and λR/b

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Figure 7

Variations in κ̃ versus λH/b, λa/b, and λR/b

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Figure 8

(a) Variations in μ, η, |φ|max, and |θi|max versus λH/b and λR/b. (b) Variations in κ¯, κ̃, λH/b, and λΔd/b versus λII/h.




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