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Research Papers

A Six Degree of Freedom Epicyclic-Parallel Manipulator

[+] Author and Article Information
Chao Chen1

Department of Mechanical and Aerospace Engineering,  Monash University, Wellington Road, Clayton, 3800, Victoria, Australiachao.chen@monash.edu

Thibault Gayral

Department of Mechanical and Aerospace Engineering,  Monash University,Wellington Road, Clayton, 3800, Victoria, Australia; Institut de Recherche en Communications et Cybernétique de Nantes, 1, rue de la noëBP 92101, 44321 NANTES CEDEX 3thibault.gayral@ens-cachan.org

Stéphane Caro

Institut de Recherche en Communications et Cybernétique de Nantes, 1, rue de la noë, BP 92101, 44321 NANTES CEDEX 3stephane.caro@irccyn.ec-nantes.fr

Damien Chablat

Institut de Recherche en Communications et Cybernétique de Nantes, 1, rue de la noë, BP 92101, 44321 NANTES CEDEX 3damien.chablat@irccyn.ec-nantes.fr

Guillaume Moroz

Institut de Recherche en Communications et Cybernétique de Nantes, 1, rue de la noë, BP 92101, 44321 NANTES CEDEX 3gmoroz@inria.fr

Sajeeva Abeywardena

Department of Mechanical and Aerospace Engineering,  Monash University, Wellington Road, Clayton, 3800,Victoria, Australiasajeeva.abeywardena@monash.edu

1

Corresponding author.

J. Mechanisms Robotics 4(4), 041011 (Sep 17, 2012) (8 pages) doi:10.1115/1.4007489 History: Received November 01, 2011; Revised February 25, 2012; Published September 17, 2012; Online September 17, 2012

A new six-dof epicyclic-parallel manipulator with all actuators allocated on the ground is introduced. It is shown that the system has a considerably simple kinematics relationship, with the complete direct and inverse kinematics analysis provided. Further, the first and second links of each leg can be driven independently by two motors. The serial and parallel singularities of the system are determined, with an interesting feature of the system being that the parallel singularity is independent of the position of the end-effector. The workspace of the manipulator is also analyzed with future applications in haptics in mind.

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Copyright © 2012 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Virtual model of MEPaM (one leg is hidden for clarity)

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Figure 2

The belt-pulley transmission

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Figure 6

A singular configuration of MEPaM: its moving platform is vertical

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Figure 7

A singular configuration of MEPaM: lines L1 and L2 intersect

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Figure 8

The parallel singularities of MEPaM in its orientation workspace

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Figure 9

Co-ordinate frame for azimuth (φ), tilt (θ), and torsion (σ) angles [φ(z)→θ(y)→σ(z*)]

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Figure 10

Regular (dark inner region) and reachable (light outer region) orientation workspaces with respect to the (φ, θ, σ) azimuth, tilt, and torsion angles

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Figure 11

Regular positional workspace of MEPaM and positional requirements of the epicyclic transmissions

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Figure 3

The end-effector connecting to A1, A2, and A3

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Figure 4

The actuation forces applied on the moving platform of MEPaM

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Figure 5

The wrench graph of MEPaM

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