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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
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References

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Figures

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Fig. 1

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

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Fig. 2

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

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Fig. 3

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

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Fig. 4

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

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Fig. 5

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

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Fig. 6

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

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Fig. 7

The assignment of the four limbs

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Fig. 8

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

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Fig. 9

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

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Fig. 10

A case when input transmission singularity occurs

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Fig. 11

The CAD model of the new parallel robot

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Fig. 12

The bottom view of the parallel robot in Fig. 11

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Fig. 13

The kinematic scheme of the robot presented in Fig. 11

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Fig. 14

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

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Fig. 15

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

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Fig. 16

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

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Fig. 17

Distribution of θABS when z = −550 mm

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Fig. 18

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

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Fig. 19

Distribution of zCAP in the parameter design space

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Fig. 20

Distribution of rz in the parameter design space

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Fig. 21

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

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Fig. 22

Relationship between λ and zcap

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Fig. 23

Relationship between λ and rz-max

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Fig. 24

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

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Fig. 25

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

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Fig. 26

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

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Fig. 27

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

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Fig. 28

The distribution of θABS when z = −1.65

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Fig. 29

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

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Fig. 30

The maximum regular workspace

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Fig. 31

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

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Fig. 32

The translational capability test

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Fig. 33

The rotational capability test

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