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Research Papers

Actuation Redundancy as a Way to Improve the Acceleration Capabilities of 3T and 3T1R Pick-and-Place Parallel Manipulators

[+] Author and Article Information
David Corbel, Marc Gouttefarde, Olivier Company

LIRMM, Universite Montpellier 2, CNRS, 161 rue Ada, 34392 Montpellier, France

François Pierrot1

LIRMM, Universite Montpellier 2, CNRS, 161 rue Ada, 34392 Montpellier, Francepierrot@lirmm.fr

1

Corresponding author:

J. Mechanisms Robotics 2(4), 041002 (Aug 30, 2010) (13 pages) doi:10.1115/1.4002078 History: Received September 22, 2009; Revised June 07, 2010; Published August 30, 2010; Online August 30, 2010

This paper analyzes the possible contribution of actuation redundancy in obtaining very high acceleration with parallel robot manipulators. This study is based on redundant and nonredundant Delta/Par4-like manipulators, which are frequently used for pick-and-place applications, and addresses the cases of translational manipulators (also called 3T manipulators) and manipulators with Schoenflies motions (also called 3T1R manipulators). A dynamic model, valid for both redundant and nonredundant manipulators, is used to analyze the moving platform’s acceleration capabilities: (i) at zero speed and in any direction and (ii) at zero speed in the “best” direction. The results show that actuation redundancy makes it possible to homogenize dynamic capabilities throughout the workspace and to increase the moving platform’s accelerations. Designs of redundant Delta/Par4-like manipulators capable of high acceleration pick-and-place trajectories are presented for both 3T and 3T1R manipulators.

Copyright © 2010 by American Society of Mechanical Engineers
Topics: Manipulators
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Figures

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Figure 1

Delta/Par4-like manipulator geometric parameters

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Figure 2

Heli4 moving platform

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Figure 3

Forearm mass considered as point mass

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Figure 4

Illustration of the comparison indices

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Figure 5

MATLAB sketch of the considered Delta/Par4-like 3T parallel manipulators: (a) NR, (b) R4, and (c) R6

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Figure 6

Trajectory with 100 G acceleration in Cartesian space

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Figure 7

Extreme points of the trajectories

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Figure 8

Actuator torques needed for the four trajectories in the case of the best R4 manipulator

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Figure 9

Min-max moving platform acceleration ẍmin max of the best R4 in planes z={−0.53,−0.48,−0.43} m

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Figure 10

Maximum possible moving platform acceleration ẍmax of the best R4 in planes z={−0.53,−0.48,−0.43} m

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Figure 11

CAD model of the best R4 parallel manipulator

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Figure 12

MATLAB sketch of the (a) Heli4 and (b) HeliR6 manipulators

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Figure 13

Min-max moving platform acceleration ẍmin min of the best HeliR6 in planes z={−0.51,−0.46,−0.41}

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Figure 14

Maximum possible moving platform acceleration ẍmax of the best HeliR6 in planes z={−0.51,−0.46,−0.41}

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Figure 15

CAD model of the best HeliR6

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