Research Papers

Mobility, Kinematic Analysis, and Dimensional Optimization of New Three-Degrees-of-Freedom Parallel Manipulator With Actuation Redundancy

[+] Author and Article Information
Lingmin Xu

Mechatronic Institute,
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: xulingmin1993@163.com

Qinchuan Li

Mechatronic Institute,
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: lqchuan@zstu.edu.cn

Ningbin Zhang

Mechatronic Institute,
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: zhangningbin0617@126.com

Qiaohong Chen

School of Information,
Zhejiang Sci-Tech University,
Hangzhou 310018, Zhejiang Province, China
e-mail: chen_lisa@zstu.edu.cn

1Corresponding author.

Manuscript received September 28, 2016; final manuscript received April 7, 2017; published online May 2, 2017. Assoc. Editor: Marc Gouttefarde.

J. Mechanisms Robotics 9(4), 041008 (May 02, 2017) (12 pages) Paper No: JMR-16-1280; doi: 10.1115/1.4036517 History: Received September 28, 2016; Revised April 07, 2017

Parallel manipulators (PMs) with redundant actuation are attracting increasing research interest because they have demonstrated improved stiffness and fewer singularities. This paper proposes a new redundantly actuated parallel manipulator that has three degrees-of-freedom (DOFs) and four limbs. The proposed manipulator is a 2UPR-2PRU parallel manipulator (where P represents an actuated prismatic joint, R represents a revolute joint, and U represents a universal joint) that is actuated using four prismatic joints; two of these joints are mounted on the base to reduce the movable mass. Mobility analysis shows that the moving platform has two rotational DOFs and one translational DOF. First, the inverse displacement solution, velocity, and singularity analyses are discussed. Next, the local transmission index (LTI) and the good transmission workspace are used to evaluate the motion/force transmissibility of the 2UPR-2PRU parallel manipulator. Finally, the parameter-finiteness normalization method (PFNM) is used to produce an optimal design that considers the good transmission workspace. It is thus shown that the motion/force transmission of the proposed manipulator is improved by optimizing the link parameters.

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Fig. 1

2UPR-2PRU PM with actuation redundancy: (a) CAD model and (b) schematic representation

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Fig. 2

Relationship between angle β and the position vectors

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Fig. 3

Mobility and application of 2UPR-2PRU PM: (a) rotation through α, (b) rotation through β, and (c) application

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Fig. 4

Flowchart of search process for forward kinematic singularities

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Fig. 5

Inverse kinematic singularities: (a) first configuration and (b) second configuration

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Fig. 6

Procedure for evaluation of the 2UPR-2PRU redundantly actuated PM

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Fig. 7

LTI distribution for the 2UPR-2PRU PM: (a) workspace volume, (b) workspace when zo=600 mm, and (c) orientation workspace

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Fig. 8

Trends in σ for different architectural parameters: (a) l1, (b) l2, (c) l3, and (d) l4

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Fig. 9

Parameter design-space model: (a) space view and (b) plan view

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Fig. 10

Orientation of GTW for the 2UPR-2PRU PM: (a) distribution of σ and (b) optimal design regions I, II, and III

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Fig. 11

Comparisons of motion/force transmission: (a) region I with l1 = 130 mm, l2 = 1155 mm, l3 = 215 mm, and l4 = 1910 mm (group 3), (b) region II with l1 = 365 mm, l2 = 650 mm, l3 = 475 mm, and l4 = 859 mm (group 6), and (c) region III with l1 = 485 mm, l2 = 560 mm, l3 = 455 mm, and l4 = 525 mm (group 9)




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