Technical Brief

Dexterous Workspace Optimization for a New Hybrid Parallel Robot Manipulator

[+] Author and Article Information
Serdar Kucuk

Technology Faculty,
Biomedical Engineering,
Kocaeli University,
Umuttepe Campus,
Kocaeli 41380, Turkey
e-mail: skucuk@kocaeli.edu.tr

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received January 11, 2018; final manuscript received August 23, 2018; published online October 1, 2018. Assoc. Editor: Shaoping Bai.

J. Mechanisms Robotics 10(6), 064503 (Oct 01, 2018) (8 pages) Paper No: JMR-18-1009; doi: 10.1115/1.4041334 History: Received January 11, 2018; Revised August 23, 2018

In this paper, a new hybrid parallel robot (HPR) manipulator is introduced. First three kinematic limbs of six-legged general Stewart platform (6DOF GSP) manipulator are disconnected. Afterward, each passive universal joint of remaining three-legged parallel manipulator (three-UPS) is mounted at the center of each second passive revolute joint of RPR planar parallel manipulator (3DOF PPM) where underlined letters present active joints. Active actuators of PPM mounted between base platform of GSP and ground perform translations along x and y-axes, and rotation about z-axis. Remaining three limbs of GSP mechanism provide translation z-axis, and rotation about x- and y-axes only. Thus HPR can perform motion with full dimensions (translation and rotation about x-, y-, and z-axes). Optimizations are performed by using particle swarm optimization algorithm. Optimization results demonstrated that HPR provides better dexterity and singularity-free workspace characteristics than GSP.

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Grahic Jump Location
Fig. 5

Normalized regular-shaped dexterity results of HPR manipulator for case 1, 2, and 3

Grahic Jump Location
Fig. 6

Singularity-free zones of leg type-8 ((a), (b), (c), and (d) for HPR, (e), (f), (g), and (h) for GSP)

Grahic Jump Location
Fig. 7

(a) Stewart platform with leg type-8, (b) workspace of Stewart platform with leg type-8, (c) HPR manipulator with leg type-8, and (d) workspace of HPR manipulator with leg type-8

Grahic Jump Location
Fig. 3

(a) Schematic diagram of HPR, (b) passive prismatic joint, (c) solid structure of HPR, and (d) limbs on the direction of L1−b1−m1

Grahic Jump Location
Fig. 1

Six-UPS GSP manipulator

Grahic Jump Location
Fig. 4

Normalized regular-shaped dexterity results for HPR manipulator



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