Research Papers

A Novel Five-Degree-of-Freedom Parallel Manipulator and Its Kinematic Optimization

[+] Author and Article Information
Yimin Song

Key Laboratory of Mechanism Theory
and Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: ymsong@tju.edu.cn

Binbin Lian

Key Laboratory of Mechanism Theory
and Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: lianbinbin016@163.com

Tao Sun

Key Laboratory of Mechanism Theory
and Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: stao@tju.edu.cn

Gang Dong

Key Laboratory of Mechanism Theory
and Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: dg.579@163.com

Yang Qi

Key Laboratory of Mechanism Theory
and Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: qiyang1900@163.com

Hao Gao

Key Laboratory of Mechanism Theory
and Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: haooah3008@163.com

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received July 7, 2013; final manuscript received May 16, 2014; published online June 12, 2014. Assoc. Editor: Xilun Ding.

J. Mechanisms Robotics 6(4), 041008 (Jun 12, 2014) (9 pages) Paper No: JMR-13-1128; doi: 10.1115/1.4027742 History: Received July 07, 2013; Revised May 16, 2014

Driven by requirements of five-axis numerical control (NC) machine for its executive mechanism, this paper creatively proposes a flow path to synthesize a novel class of n-degree-of-freedom (n-DoF, 4 ≤ n ≤ 6) parallel manipulators (PMs) resorting to four steps, and takes a patented 5-DoF PM, named T5, for example to demonstrate the flow path in depth. Comparing with existing five-axis executive mechanisms, this novel class of the PMs has some advantages of light end-effector, good static, dynamic performance, and so on. Upon the underlying architecture of T5, the kinematic analysis and optimal design are carried out for the first time, in which two essential procedures are involved, one is the kinematic performance index by means of the reciprocal product associated with the wrench screw and twist screw with specific physical meaning, the other is the design method adopted to perform the multi-objective dimensional synthesis using an artificial intelligence approach, that is nondominated sorting genetic algorithm II (NSGA-II). This paper is aimed at laying a solid theoretical and technical foundation for the prototype design and manufacture of T5 PM.

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Fig. 1

The topology synthesis flow of T5 PM

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Fig. 2

Topology graph of T5 PM

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Fig. 3

Virtual prototype of T5 PM

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Fig. 4

Schematic diagram of T5 PM

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Fig. 5

Description of fixed base in a plane

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Fig. 6

Description of platform I in a plane

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Fig. 7

Schematic diagram of MTM

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Fig. 8

The procedure of NSGA-II

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Fig. 9

Distribution of ν in the prescribed workspace (x = Rxy cos φ, y = Rxy sinφ)

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Fig. 10

Relationship between κ and σ




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