Research Papers

Designing a Translational Parallel Manipulator Based on the 3SS Kinematic Joint

[+] Author and Article Information
Erik Macho

Department of Mechanical Engineering,
University of the Basque Country,
Bilbao 48013, Spain
e-mail: erik.macho@ehu.eus

Mónica Urízar

Department of Mechanical Engineering,
University of the Basque Country,
Bilbao 48013, Spain
e-mail: monica.urizar@ehu.eus

Víctor Petuya

Department of Mechanical Engineering,
University of the Basque Country,
Bilbao 48013, Spain
e-mail: victor.petuya@ehu.eus

Alfonso Hernández

Department of Mechanical Engineering,
University of the Basque Country,
Bilbao 48013, Spain
e-mail: a.hernandez@ehu.eus

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received April 11, 2018; final manuscript received May 20, 2019; published online July 12, 2019. Assoc. Editor: Venkat Krovi.

J. Mechanisms Robotics 11(5), 051007 (Jul 12, 2019) (13 pages) Paper No: JMR-18-1096; doi: 10.1115/1.4043921 History: Received April 11, 2018; Accepted May 22, 2019

Nowadays, translational parallel manipulators are widely used in industrial applications related to pick and place tasks. In this paper, a new architecture of a translational parallel manipulator without floating prismatic joints and without redundant constraints is presented, which leads to a robust design from the manufacturing and maintenance point of view. The frame configuration has been chosen with the aim of achieving the widest and most regular operational workspace completely free of singularities. Besides, the position equations of the proposed design are obtained in a closed form, as well as the singularity locus. It will be shown that the proposed design owns a very simple kinematics so that the related equations can be efficiently implemented in the control of the robot. In addition, the Jacobian condition number assessment shows that a wide part of the operational workspace is well-conditioned, and also the existence of an isotropic configuration will be proved. Finally, a prototype has been built by following a modular design approach.

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Fig. 2

Pa joint and Pa2 joint

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Fig. 3

Pa2 redundancies reduction

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Fig. 4

3 − C(3SS) and 3 − P(3SS)R manipulators

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Fig. 5

Frame configuration

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Fig. 6

Workspace volume with respect to α angle

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Fig. 7

Direct singularity surfaces and singularity-free regions of the workspace in a cut view

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Fig. 8

3 − P(3SS)R manipulator

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Fig. 9

3 − CSS equivalent simplified manipulator and nomenclature

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Fig. 10

The eight existing working modes

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Fig. 11

Singular posture with all legs parallel to a plane

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Fig. 12

Singular posture with two and three legs in the same direction

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Fig. 13

Direct singularity surface in the joint space

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Fig. 14

Inverse singularity loci and inverse singular posture

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Fig. 15

Increased mobility

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Fig. 16

κ−1 mapped in planar slices of the workspace

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Fig. 17

Isotropic configuration, spherical velocity ellipsoid

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Fig. 18

Preliminary CAD design

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Fig. 19

(a) Optimized CAD prototype, (b) modular design of the spherical joints, and (c) workspace comparison

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Fig. 20

Real prototype of the TPM (two different postures), CompMech Research Group

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Fig. 21

Kinematic parameters of the 3SS joint



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