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Research Papers

Optimal Design of a 4-DOF SCARA Type Parallel Robot Using Dynamic Performance Indices and Angular Constraints

[+] Author and Article Information
Songtao Liu

School of Mechanical Engineering,  Tianjin University, Tianjin 300072, P. R. Chinast2060@yahoo.cn

Tian Huang1

School of Mechanical Engineering,  Tianjin University, Tianjin 300072, P. R. Chinahtiantju@public.tpt.tj.cn

Jiangping Mei

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

Xueman Zhao

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

Panfeng Wang

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

Derek G. Chetwynd

School of Engineering,  University of Warwick, Coventry CV4 7AL, UKD.G.Chetwynd@warwick.ac.uk

1

Corresponding author.

J. Mechanisms Robotics 4(3), 031005 (Jul 09, 2012) (10 pages) doi:10.1115/1.4006743 History: Received November 05, 2011; Revised April 20, 2012; Published July 09, 2012; Online July 09, 2012

This paper deals with the optimal design of a 4-DOF SCARA type (three translations and one rotation) parallel robot using dynamic performance indices and angular constraints within and amongst limbs. The architecture of the robot is briefly addressed with emphasis on the mechanical realization of the articulated traveling plate for achieving a lightweight yet rigid design. On the basis of the kinematic singularity analysis, two types of transmission angle constraints are considered to ensure the kinematic performance. A simplified model of rigid body dynamics is then formulated, with which two global dynamic performance indices are proposed for minimization by taking into account both inertial and centrifugal/Coriolis effects. In addition, the servomotor specifications are estimated using the Extended Adept Cycle. The proposed approach has successfully been employed to develop a prototype machine.

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Copyright © 2012 by American Society of Mechanical Engineers
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Figures

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Figure 1

The 4-DOF SCARA parallel robot: (a) a CAD model and (b) the schematic diagram

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Figure 5

Determination of the optimized H and l2 for (a) e=0.125m, l1=0.375m; (b) e=0.15m, l1=0.35m; and ( c ) e=0.175m, l1=0.325m

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Figure 6

Variations of the condition number (λ), the pressure angles (maxiαi), and (β), and the maximum singular values maxi(σaimax) and maxi(σvimax) in the middle layer of the workspace: (1) the optimized dimensions and (2) the presumed dimensions

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Figure 7

Path of the extended adept cycle

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Figure 8

Variations of angular velocity, torque, and power of the forearms versus time in the extended adept cycle (a ) ϕ=0  deg, (b ) ϕ=45  deg, and (c ) ϕ=90  deg

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Figure 9

Variations of moment of inertia of load imposed on the motor shafts versus time in the extended adept cycle (a ) ϕ=0  deg, (b ) ϕ=45  deg, and (c ) ϕ=90  deg

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Figure 10

Prototype of the 4-DOF SCARA type parallel robot and its articulated traveling plate

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Figure 4

Variations of (a) τaG and (b) τvG versus l2 and H. (1) e=0.125m,l1=0.375m; (2) e=0.15m,l1=0.35m; and (3) e=0.175m,l1=0.325m.

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Figure 3

The geometrical meaning of angle β

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Figure 2

Different evolutionary versions of the traveling plate: (a) no guideway, (b) one guideway, and (c) four guideways

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