0
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.

Copyright © 2019 by ASME
Your Session has timed out. Please sign back in to continue.

References

Clavel, R., 1988, “Delta, a Fast Robot With Parallel Geometry,” Proceedings of the 18th International Symposium on Industrial Robots, Springer-Verlag, New York, pp. 91–100.
Tsai, L.-W., Walsh, G. C., and Stamper, R. E., 1996, “Kinematics of a Novel Three DoF Translational Platform,” Proceedings of IEEE International Conference on Robotics and Automation, St. Paul, MN, Apr. 22–28, pp. 3446–3451.
Arai, T., Hervé, J.M., and Tanikawa, T., 1996, “Development of 3 DOF Micro Finger,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ‘96), Osaka, Japan, Nov. 5–8, pp. 981–987.
Kong, X., and Gosselin, C. M., 2002, “Kinematics and Singularity Analysis of a Novel Type of 3-CRR 3-DOF Translational Parallel Manipulator,” Int. J. Rob. Res., 21(9), pp. 791–798.
Germain, C., Caro, S., Briot, S., and Wenger, P., 2013, “Singularity-Free Design of the Translational Parallel Manipulator IRSBot-2,” Mech. Mach. Theory, 64, pp. 262–285.
Briot, S., Bonev, I. A., and Pantopteron, 2009, “A New Fully Decoupled 3 DOF Translational Parallel Robot for Pick-and-Place Applications,” ASME J. Mech. Rob., 1(2), p. 021001.
Zeng, Q., Ehmann, K. F., and Cao, J., 2014, “Tri-Pyramid Robot: Design and Kinematic Analysis of a 3-DOF Translational Parallel Manipulator,” Rob. Comput. Integr. Manuf., 30(6), pp. 648–657.
Caro, S., Wenger, P., Bennis, F., and Chablat, D., 2006, “Sensitivity Analysis of the Orthoglide: A Three-DOF Translational Parallel Kinematic Machine,” ASME J. Mech. Des., 126(2), pp. 392–402.
Affi, Z., Romdhane, L., and Maalej, A., 2004, “Dimensional Synthesis of a 3-Translational-DOF in-Parallel Manipulator for a Desired Workspace,” Eur. J. Mech.—A/Solids, 23(2), pp. 311–324.
Bhutani, G., and Dwarakanath, T. A., 2014, “Novel Design Solution to High Precision 3 Axes Translational Parallel Mechanism,” Mech. Mach. Theory, 75, pp. 118–130.
Zhao, Y., 2013, “Dynamic Optimum Design of a Three Translational Degrees of Freedom Parallel Robot While Considering Anisotropic Property,” Rob. Comput. Integr. Manuf., 29(4), pp. 100–112.
Tsai, L.-W., and Joshi, S., 2001, “Comparison Study of Architecture of Four Degree-of-Freedom Translational Parallel Manipulators,” Proceedings 2001 ICRA IEEE International Conference on Robotics and Automation, Seoul, South Korea, May 21–26, pp. 1283–1288.
Hernández, A., Macho, E., Urízar, M., Petuya, V., and Zhang, Z., 2018, “Pa2 Kinematic Bond in Translational Parallel Manipulators,” Mech. Sci., 9, pp. 25–39.
Angeles, J., 2004, “The Qualitative Synthesis of Parallel Manipulators,” ASME J. Mech. Des., 126(4), pp. 617–624.
Salgado, O., Altuzarra, O., Amezua, E., and Hernández, A., 2007, “A Parallelogram-Based Parallel Manipulator for Schönflies Motion,” ASME J. Mech. Des., 129(12), pp. 1243–1250.
Salgado, O., Altuzarra, O., Petuya, O., and Hernández, A., 2008, “Synthesis and Design of a Novel 3T1R Fully-Parallel Manipulator,” ASME J. Mech. Des., 130(4), p. 042305.
Macho, E., Altuzarra, O., Amezua, E., and Hernández, A., 2009, “Obtaining Configuration Space and Singularity Maps for Parallel Manipulators,” Mech. Mach. Theory, 44(11), pp. 2110–2125.
Kaloorazi, M. F., Masouleh, M. T., and Caro, S., 2015, “Determination of the Maximal Singularity-Free Workspace of 3-DOF Parallel Mechanisms With a Constructive Geometric Approach,” Mech. Mach. Theory, 84, pp. 25–36.
Dai, J. S., Huang, Z., and Lipkin, H., 2006, “Mobility of Overconstrained Parallel Mechanisms,” ASME J. Mech. Des.,, 128(1), pp. 220–220.
Gan, D., Dai, J. S., and Liao, Q., 2009, “Mobility Change in Two Types of Metamorphic Parallel Mechanisms,” ASME J. Mech. Rob., 1(4), p. 041007.
Petuya, V., Macho, E., Altuzarra, O., Pinto, C., and Hernández, A., 2014, “Educational Software Tools for the Kinematic Analysis of Mechanisms,” Comput. Appl. Eng. Educ., 22(1), pp. 72–86.
Shai, O., 2009, “The Canonical Form of All Planar Linkage Topologies,” Proceeding of ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Vol. 7 of 33rd Mechanisms and Robotics Conference, Parts A and B, San Diego, CA, Aug. 30–Sept. 2, pp. 1285–1294..
Chen, I.-M., 2001, “Rapid Response Manufacturing Through a Rapidly Reconfigurable Robotic Workcell,” Rob. Comput. Integr. Manuf., 17(3), pp. 199–213.
Yang, G., Chen, I.-M., Lim, W., and Yeo, S. H., 2001, “Kinematic Design of Modular Reconfigurable In-Parallel Robots,” Auton. Robots, 10(1), pp. 83–89.
Moosavian, A., and Xi, F., 2016, “Modular Design of Parallel Robots With Static Redundancy,” Mech. Mach. Theory, 96(1), pp. 26–37.

Figures

Grahic Jump Location
Fig. 2

Pa joint and Pa2 joint

Grahic Jump Location
Fig. 3

Pa2 redundancies reduction

Grahic Jump Location
Fig. 4

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

Grahic Jump Location
Fig. 5

Frame configuration

Grahic Jump Location
Fig. 6

Workspace volume with respect to α angle

Grahic Jump Location
Fig. 7

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

Grahic Jump Location
Fig. 8

3 − P(3SS)R manipulator

Grahic Jump Location
Fig. 9

3 − CSS equivalent simplified manipulator and nomenclature

Grahic Jump Location
Fig. 10

The eight existing working modes

Grahic Jump Location
Fig. 11

Singular posture with all legs parallel to a plane

Grahic Jump Location
Fig. 12

Singular posture with two and three legs in the same direction

Grahic Jump Location
Fig. 13

Direct singularity surface in the joint space

Grahic Jump Location
Fig. 14

Inverse singularity loci and inverse singular posture

Grahic Jump Location
Fig. 15

Increased mobility

Grahic Jump Location
Fig. 16

κ−1 mapped in planar slices of the workspace

Grahic Jump Location
Fig. 17

Isotropic configuration, spherical velocity ellipsoid

Grahic Jump Location
Fig. 18

Preliminary CAD design

Grahic Jump Location
Fig. 19

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

Grahic Jump Location
Fig. 20

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

Grahic Jump Location
Fig. 21

Kinematic parameters of the 3SS joint

Tables

Errata

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In