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A Novel Three-loop Parallel Robot with Full Mobility: Kinematics and Singularity Analysis

[+] Author and Article Information
Wei Li

PhD candidate, Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, Montreal, QC, H3A 0C3 Canada
livey@cim.mcgill.ca

Jorge Angeles

Professor, Fellow of ASME, Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, Montreal, QC, H3A 0C3 Canada
angeles@cim.mcgill.ca

1Corresponding author.

ASME doi:10.1115/1.4037112 History: Received October 03, 2016; Revised June 10, 2017

Abstract

A novel parallel robot, dubbed the SDelta, is the subject of this paper. The robot is a simpler alternative to both the well-known Stewart-Gough platform (SGP) and current three-limb, full-mobility parallel robots, as it contains fewer components and all its motors are located on the base, which greatly reduces the inertial load on the system, making it a good candidate for high-speed operations. SDelta features a symmetric structure; its forward-displacement analysis leads to a system of three quadratic equations in three unknowns, the robot direct-kinematics thus admitting up to eight solutions, or half the number of those admitted by the SGP. The kinematic analysis, undertaken with a geometrical method based on screw theory, leads to two Jacobian matrices, whose singularity conditions are investigated. Instead of using the determinant of a 6×6 matrix, we derive one simple expression that characterizes the singularity condition. This approach is also applicable to a large number of parallel robots whose six actuation wrench axes intersect pairwise, such as the SGP and three-limb parallel robots whose limbs include, each, a passive spherical joint. The workspace is analyzed via a geometric method, while the dexterity analysis is conducted via a discretization method. Both show that the given robot has the potential to offer both large workspace and good dexterity with a proper choice of design variables.

Copyright (c) 2017 by ASME
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