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research-article

A Novel Kinematically Redundant Planar Parallel Robot with Full Rotatability

[+] Author and Article Information
Nicholas Baron

School of Engineering and Informatics, University of Sussex, Brighton BN1 9RH, UK
n.baron@sussex.ac.uk

Andrew Philippides

School of Engineering and Informatics, University of Sussex, Brighton BN1 9RH, UK
andrewop@sussex.ac.uk

Nicolas Rojas

Dyson School of Design Engineering, Imperial College London, London SW7 2DB, UK
n.rojas@imperial.ac.uk

1Corresponding author.

ASME doi:10.1115/1.4041698 History: Received May 25, 2018; Revised September 26, 2018

Abstract

This paper presents a novel kinematically redundant planar parallel robot which has full rotatability. The proposed robot has an architecture that corresponds to a fundamental truss, meaning that it does not contain internal rigid structures when the actuators are locked. This also implies that its rigidity is not inherited from more general architectures or resulting from the combination of other fundamental structures. The introduced topology is a departure from the standard 3-RPR (or 3- RRR) mechanism on which most kinematically redundant planar parallel robots are based. The robot consists of a moving platform that is connected to the base via two RRR legs and connected to a ternary link, which is joined to the base by a passive revolute joint, via two other RRR legs. The resulting robot mechanism is kinematically redundant, being able to avoid the production of singularities and having unlimited rotational capability. The inverse and forward kinematics analysis of this novel robot are derived using distance-based techniques, and the singularity analysis is performed using a geometric method based on the properties of instantaneous centres of rotation. An example robot mechanism is analysed numerically and physically tested; and a test trajectory where the end-effector completes a full cycle rotation is reported. A link to an online video recording of such a capability, along with the avoidance of singularities and a potential application, is also provided.

Copyright (c) 2018 by ASME
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