0
Research Papers

Design and Development of a High-Speed and High-Rotation Robot With Four Identical Arms and a Single Platform

[+] Author and Article Information
Fugui Xie

The State Key Laboratory of
Tribology and Institute of
Manufacturing Engineering,
Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: xiefg@mail.tsinghua.edu.cn

Xin-Jun Liu

The State Key Laboratory of
Tribology and Institute of
Manufacturing Engineering,
Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China;
Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipments and Control,
Tsinghua University,
Beijing 100084, China

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received May 27, 2014; final manuscript received December 17, 2014; published online April 6, 2015. Assoc. Editor: Xianmin Zhang.

J. Mechanisms Robotics 7(4), 041015 (Nov 01, 2015) (12 pages) Paper No: JMR-14-1117; doi: 10.1115/1.4029440 History: Received May 27, 2014; Revised December 17, 2014; Online April 06, 2015

In this paper, a novel parallel kinematic mechanism (PKM) with Schönflies motion has been proposed under the guidance of a graphical type synthesis method. This PKM is composed of four identical arms and a single platform and has high rotational capability. The single-platform structure used in the proposed PKM can reduce structural complexity, increase dynamic response. In addition, the composite parallelogram structure in each arm brings in better limb stiffness. Based on the proposed concept, optimal design is carried out to make the PKM realize its high rotational potential. In this process, an input transmission index (ITI) and an output transmission index (OTI) (the two indices can be used to numerically evaluate motion and force transmission performance of PKMs, respectively) are taken as the performance evaluation criteria. On this basis, some other indices are defined and the corresponding performance atlases are also plotted to investigate the potential workspace. Consequently, dimensional parameters of the discussed PKM are derived on the precondition that the rotational capability should reach at least ±90 deg, and the workspace has also been identified. Based on these foundations, a parallel robot X4 has been developed which can realize high-speed pick-and-place manipulation in industrial lines.

Copyright © 2015 by ASME
Topics: Robots , Design , Rotation
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 1

An articulated traveling plate with double-platform structure [14]

Grahic Jump Location
Fig. 2

Atlases of PKMs with Schönflies motion: (a) freedom space and (b) constraint space

Grahic Jump Location
Fig. 3

Two one-dimensional couple constraints perpendicular to each other: (a) atlas of SC1 and (b) atlas of SC2

Grahic Jump Location
Fig. 4

The CAD model of a 5DOF kinematic chain with a couple constraint

Grahic Jump Location
Fig. 5

The CAD model of a 5DOF kinematic chain R(Pa*)R

Grahic Jump Location
Fig. 6

The improved parallelogram mechanism (Pa*) used in this design: (a) CAD model and (b) kinematic scheme

Grahic Jump Location
Fig. 7

The assignment of the four limbs

Grahic Jump Location
Fig. 8

A case when output transmission singularity occurs: (a) one intersection, (b) two intersections, and (c) four intersections

Grahic Jump Location
Fig. 9

A case without output transmission singularity: (a) front view and (b) side view

Grahic Jump Location
Fig. 10

A case when input transmission singularity occurs

Grahic Jump Location
Fig. 11

The CAD model of the new parallel robot

Grahic Jump Location
Fig. 12

The bottom view of the parallel robot in Fig. 11

Grahic Jump Location
Fig. 13

The kinematic scheme of the robot presented in Fig. 11

Grahic Jump Location
Fig. 14

OTI distribution for each limb with x = 300 mm, y = 0, and z = −550 mm

Grahic Jump Location
Fig. 15

A planar view of the workspace under the constraint θABS≥90 deg

Grahic Jump Location
Fig. 16

The rotational capability when z = −550 mm: (a) distribution of θmin and (b) distribution of θmax

Grahic Jump Location
Fig. 17

Distribution of θABS when z = −550 mm

Grahic Jump Location
Fig. 18

Parameter design space of the discussed mechanism: (a) 3D view and (b) planar view

Grahic Jump Location
Fig. 19

Distribution of zCAP in the parameter design space

Grahic Jump Location
Fig. 20

Distribution of rz in the parameter design space

Grahic Jump Location
Fig. 21

An optimum region with constraints zcap ≥ 0.8 and rz ≥ 0.5

Grahic Jump Location
Fig. 22

Relationship between λ and zcap

Grahic Jump Location
Fig. 23

Relationship between λ and rz-max

Grahic Jump Location
Fig. 24

A middle section with ω=45 deg of the spatial volume

Grahic Jump Location
Fig. 25

The rotational capability when z = −1.05: (a) distribution of θmin and (b) distribution of θmax

Grahic Jump Location
Fig. 26

Workspace with high rotational capability when z = −1.05: (a) distribution of θmax-θmin and (b) distribution of θABS

Grahic Jump Location
Fig. 27

The rotational capability when z = −1.65: (a) distribution of θmin and (b) distribution of θmax

Grahic Jump Location
Fig. 28

The distribution of θABS when z = −1.65

Grahic Jump Location
Fig. 29

Distribution of θABS: (a) z=-1.25 and (b) z=-1.45

Grahic Jump Location
Fig. 30

The maximum regular workspace

Grahic Jump Location
Fig. 31

The overview of the developed robot X4: (a) external appearance and (b) an internal view

Grahic Jump Location
Fig. 32

The translational capability test

Grahic Jump Location
Fig. 33

The rotational capability test

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In