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Design Innovation Paper

Kinematics, Workspace, and Singularity Analysis of a Parallel Robot With Five Operation Modes

[+] Author and Article Information
Damien Chablat

Laboratoire des Sciences du Numérique de Nantes,
UMR CNRS 6004 1 rue de la Noë,
Nantes 44321, France
e-mail: damien.chablat@cnrs.fr

Xianwen Kong

School of Engineering and Physical Sciences,
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: X.Kong@hw.ac.uk

Chengwei Zhang

School of Engineering and Physical Sciences,
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: moonlight1780@163.com

1Present address: Dalian Huarui Heavy Industry Group Co., Ltd, Dalian 116013, China.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received September 22, 2017; final manuscript received February 3, 2018; published online April 5, 2018. Assoc. Editor: Andrew P. Murray.

J. Mechanisms Robotics 10(3), 035001 (Apr 05, 2018) (12 pages) Paper No: JMR-17-1318; doi: 10.1115/1.4039400 History: Received September 22, 2017; Revised February 03, 2018

Most multimode parallel robots can change operation modes by passing through constraint singularities. This paper deals with a comprehensive kinematic study of a three degrees-of-freedom (DOF) multimode three-PRPiR parallel robot developed at Heriot-watt University. This robot is able to reach several operation modes without crossing any constraint singularity by using lockable Pi and R joints. Here, a Pi joint may act as a 1DOF planar parallelogram if its lockable P (prismatic) joint is locked or a 2DOF RR serial chain if its lockable P joint is released. The operation modes of the robot include a 3T operation mode and four 2T1R operation modes with two different directions of the rotation axis of the moving platform. The inverse kinematics and forward kinematics of the robot in each operation mode are dealt with in detail. The joint space and workspace analysis of the robot allow us to know the regions of the workspace that the robot can reach in each operation mode. It is shown that the robot is able to change assembly mode in one operation mode by passing through another operation mode.

Copyright © 2018 by ASME
Topics: Kinematics , Robots
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Figures

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Fig. 1

A three-PRPiR multimode parallel robot where the three prismatic joints ρ1, ρ2 and ρ3 are actuated, the revolute joints B1, B2 and B3 are lockable joints and all the other joints are passive

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Fig. 2

Link parameters of the three-PRPiR multimode parallel robot

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Fig. 3

The eight working modes of the robot associated with the home pose

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Fig. 4

Joint space of operation mode 1 for ρ1 = 0

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Fig. 5

Joint space of operation mode 2 for ρ1 = 0

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Fig. 6

Joint space of operation mode 3 for ρ1 = 0

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Fig. 7

Joint space of operation mode 4 for ρ1 = 0

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Fig. 8

Joint space of operation mode 5 for ρ1 = 0

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Fig. 9

Example of joint configuration with two direct kinematic solutions in operation mode 1 with ρ1 = 50, ρ2 = 0, and ρ3 = 0

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Fig. 10

Example of joint configuration with four direct kinematic solutions in operation mode 2 with ρ1 = 0, ρ2 = 272, and ρ3 = −53

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Fig. 11

Example of joint configuration with four direct kinematic solutions in operation mode 3 with ρ1 = 0, ρ2 = 200, and ρ3 = 200

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Fig. 12

Example of joint configuration with four direct kinematic solutions in operation mode 4 with ρ1 = 0, ρ2 = 200, and ρ3 = 200

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Fig. 13

Example of joint configuration with four direct kinematic solutions in operation mode 5 with ρ1 = 0, ρ2 = 100, and ρ3 = −200

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Fig. 14

Workspace in operation mode 1 for y = 0

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Fig. 15

Workspace in operation mode 2 for y = 0

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Fig. 16

Workspace in operation mode 3 for y = 0

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Fig. 17

Workspace in operation mode 4 for y = 0

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Fig. 18

Workspace in operation mode 5 for y = 0

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Fig. 19

Transition among the five operation modes

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Fig. 20

Workspace (a) and connected regions (b) for y = 0 for translation motion and the rotations around the z-axis

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Fig. 21

Workspace (a) and connected regions (b) for y = 0 for translation motion and the rotations around the x-axis

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Fig. 22

Nonsingular and singular assembly mode changing trajectory for three operation modes for T1 = [−100, 0], T2 = [100, 0], T3 = [−70.456, 0] and T4 = [0, 0] where x = 0 in (b) and (c), β = 0 in (a) and (b), α = 0 in (a) and (c)

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Fig. 23

Nonsingular and singular assembly mode changing trajectory for β = 0 (a) and α = 0 (b) between T1 = [−100, 0] and T2 = [100, 0]

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