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Research Papers

An Approach for the Lightweight Design of a 3-SPR Parallel Mechanism

[+] Author and Article Information
Manxin Wang

Department of Mechanical Engineering,
Nanjing University of Science and Technology,
Nanjing 210094, China
e-mail: mxwang@njust.edu.cn

Haitao Liu

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

Tian Huang

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

1Corresponding author.

Manuscript received April 6, 2017; final manuscript received August 3, 2017; published online August 31, 2017. Assoc. Editor: Raffaele Di Gregorio.

J. Mechanisms Robotics 9(5), 051016 (Aug 31, 2017) (10 pages) Paper No: JMR-17-1089; doi: 10.1115/1.4037618 History: Received April 06, 2017; Revised August 03, 2017

A hierarchical approach for the lightweight design of a 3-SPR parallel mechanism (PM) is presented in this paper. The criterion to match the rigidities of the limb body and those of the joints is proposed; meanwhile, the constraints in terms of technological processes and the dimensional correlations among components and joints, etc., are considered in this approach. Based on these considerations, the design flow is developed by maximizing the lower-order natural frequencies as well as by minimizing the weights of the limbs/subassemblies subject to specified rigidity constraints attributed to them. The proposed approach simultaneously enables the PM to achieve both high static rigidities and high dynamic behaviors.

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Figures

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Fig. 1

Three-dimensional model of the 5-DOF hybrid manipulator

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Fig. 2

Schematic diagram of a 3-SPR PM

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Fig. 3

Body fixed frames of the S joint

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Fig. 4

Body fixed frames of the limb body assembly

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Fig. 5

Structure diagram of the SPR limb

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Fig. 6

Structure diagram of the S joint

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Fig. 7

Main structural parameters of the limb body

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Fig. 8

The flow of lightweight design for 3-SPR PM

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Fig. 9

Dimension correlations in the SPR limb

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Fig. 10

Dimensional correlation between the R joint and moving platform

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Fig. 11

The variation of (a) mL, (b) cy4y4,L_bodyB, and (c) cz4z4,L_bodyB versus ℓt1 and ℓt2 when ℓb1=290 mm,ℓh=60 mm,ℓt3=14 mm,and ℓt4=11 mm

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Fig. 12

The variation of (a) mL, (b) cy4y4,L_bodyB, and (c) cz4z4,L_bodyB versus ℓt3 and ℓt4 when ℓb1=290 mm,ℓb2=125 mm,ℓt1=14 mm,and ℓt2=11 mm

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Fig. 13

Distributions of the first four-order natural frequencies within the midlayer of Wt′

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Fig. 14

The distribution of the stiffness within Wt′

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