Research Papers

Design Procedure for a Fast and Accurate Parallel Manipulator

[+] Author and Article Information
Sébastien Briot

Laboratoire des Sciences du Numérique de
Nantes (LS2N),
UMR CNRS 6004,
Nantes 44321, France
e-mail: Sebastien.Briot@ls2n.fr

Stéphane Caro

Laboratoire des Sciences du Numérique de
Nantes (LS2N),
UMR CNRS 6004,
Nantes 44321, France
e-mail: Stephane.Caro@ls2n.fr

Coralie Germain

Agrocampus Ouest,
Rennes 35042, France
e-mail: coralie.germain@agrocampus-ouest.fr

1Corresponding author.

Manuscript received May 2, 2017; final manuscript received September 8, 2017; published online October 9, 2017. Assoc. Editor: Byung-Ju Yi.

J. Mechanisms Robotics 9(6), 061012 (Oct 09, 2017) (11 pages) Paper No: JMR-17-1128; doi: 10.1115/1.4038009 History: Received May 02, 2017; Revised September 08, 2017

This paper presents a design procedure for a two degree-of-freedom (DOF) translational parallel manipulator, named IRSBot-2. This design procedure aims at determining the optimal design parameters of the IRSBot-2 such that the robot can reach a velocity equal to 6 m/s, an acceleration up to 20 G, and a multidirectional repeatability up to 20 μm throughout its operational workspace. Besides, contrary to its counterparts, the stiffness of the IRSBot-2 should be very high along the normal to the plane of motion of its moving platform. A semi-industrial prototype of the IRSBot-2 has been realized based on the obtained optimum design parameters. This prototype and its main components are described in the paper. Its accuracy, repeatability, elasto-static performance, dynamic performance, and elasto-dynamic performance have been measured and analyzed as well. It turns out that the IRSBot-2 has globally reached the prescribed specifications and is a good candidate to perform very fast and accurate pick-and-place operations.

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Fig. 1

Computer-aided design modeling of the IRSBot-2

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Fig. 2

Kinematic chain of the kth leg (k=I, II)

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Fig. 3

Parametrization of the kth leg (k=I, II)

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Fig. 4

Beam cross section parameters

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Fig. 5

Bounding box of the IRSBot-2

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Fig. 6

Home configuration of the IRSBot-2

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Fig. 7

Optimal 2D-design of the IRSBot-2 (solution to problem (2)) and largest regular dexterous workspace (scaled)

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Fig. 8

Pareto front of the IRSBot-2

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Fig. 9

Pareto-optimal solutions on the performance function space boundaries

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Fig. 10

Scaled representation of the optimal design solution s⋆ for the IRSBot-2

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Fig. 11

IRSBot-2 robot prototype

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Fig. 12

Benchmark for the characterization of the robot repeatability performance: (a) micrometer for measuring the repeatability and (b) ways for approaching the point at which the repeatability is tested

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Fig. 13

IRSBot-2 prototype repeatability: (a) along x0, (b) along y0, and (c) along z0

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Fig. 14

Experimental setup used to characterize the elastostatic performance of the IRSBot-2

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Fig. 15

Point displacement of the IRSBot-2 mobile platform through its regular workspace for a 20 N external force along axis y0

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Fig. 16

Experimental setup for the robot natural frequency measurements

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Fig. 17

Tracking errors for the IRSBot-2 along a desired trajectory with a maximal acceleration of 4 G and a maximal velocity of 4 m/s between a PID controller and a CTC: the tracking error was divided by 20 by using the CTC. For a fair comparison, the two controllers have been set to have the same cutting frequency (29 Hz). (a) Motor 1 and (b) motor 2.

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Fig. 18

Tracking errors and actuator torques for the IRSBot-2 along the test trajectory with desired maximal acceleration of 20 G (see the Appendix). The test trajectory is performed five times for a total time of 1.25 s. (a) Tracking errors and (b) actuator torques.

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Fig. 19

Path adopted for the manipulator design

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Fig. 20

Optimal trajectory and its velocity and acceleration profiles



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