Design and Kinematic Analysis of a Novel Planar Parallel Robot With Pure Translations

被引:2
作者
Zou, Qi [1 ]
Yi, Byung-Ju [1 ]
Zhang, Dan [2 ]
Shi, Yuancheng [1 ]
Huang, Guanyu [3 ]
机构
[1] Hanyang Univ, Sch Elect Engn, Ansan 15588, South Korea
[2] Hong Kong Polytech Univ, Dept Mech Engn, Hong Kong, Peoples R China
[3] Zhejiang Lab, Intelligent Robot Res Ctr, Hangzhou 311121, Peoples R China
关键词
Parallel robot; planar mechanism; type synthesis; performance measurement; DIMENSIONAL SYNTHESIS; MANIPULATOR; MECHANISMS; STIFFNESS; MOBILITY;
D O I
10.1109/ACCESS.2024.3352606
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The structural synthesis of a group of parallel mechanisms can be established by an exhaustive enumeration of all feasible kinematic chains based on the screw theory. However, reliable kinematic limbs can provide mobility constraints for some unqualified supporting legs to guarantee the degrees-of-freedom feasibility of the parallel robots. A systematic design approach is presented for a family of planar single-loop parallel mechanisms with the consideration of infeasible kinematic chains. Different from the other design approaches for single-loop linkages, the fixed and moving platforms are predefined in this research to distinguish different kinematic limbs. The special parallelogram linkage mechanism is incorporated due to its equivalent translation capacity. Three categories of singularity configurations are investigated based on the detailed kinematic models. The reachable workspace is obtained through the spatial search methodology. Several novel kinematic error model associated performance indices are proposed in this work and examined on a translational parallel manipulator. Experiments are carried out and compared to testify the effectiveness of the kinematic analysis and proposed position-based controller.
引用
收藏
页码:9792 / 9809
页数:18
相关论文
共 55 条
[1]   Type Synthesis of 5-DOF Hybrid (Parallel-Serial) Manipulators Designed from Open Kinematic Chains [J].
Antonov, Anton ;
Fomin, Alexey ;
Glazunov, Victor ;
Petelin, Daniil ;
Filippov, Gleb .
ROBOTICS, 2023, 12 (04)
[2]   Design of a Sliding Mode Controller with Fuzzy Rules for a 4-DoF Service Robot [J].
Bao, Le ;
Kim, Dongeon ;
Yi, Seung-Joon ;
Lee, Jangmyung .
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2021, 19 (08) :2869-2881
[3]   Workspace Determination and Feedback Control of a Pick-and-Place Parallel Robot: Analysis and Experiments [J].
Belzile, Bruno ;
Eskandary, Peyman Karimi ;
Angeles, Jorge .
IEEE ROBOTICS AND AUTOMATION LETTERS, 2020, 5 (01) :40-47
[4]   Singularity analysis of 3-DOF planar parallel mechanisms via screw theory [J].
Bonev, IA ;
Zlatanov, D ;
Gosselin, CM .
JOURNAL OF MECHANICAL DESIGN, 2003, 125 (03) :573-581
[5]   Kinematic performance evaluation of high-speed Delta parallel robots based on motion/force transmission indices [J].
Brinker, J. ;
Corves, B. ;
Takeda, Y. .
MECHANISM AND MACHINE THEORY, 2018, 125 :111-125
[6]   Kinematic Design of a Novel Two Degree-of-Freedom Parallel Mechanism for Minimally Invasive Surgery [J].
Cao, Wen-ao ;
Xu, Shi-jie ;
Rao, Kun ;
Ding, Tengfei .
JOURNAL OF MECHANICAL DESIGN, 2019, 141 (10)
[7]   Kinematic-Sensitivity Indices for Dimensionally Nonhomogeneous Jacobian Matrices [J].
Cardou, Philippe ;
Bouchard, Samuel ;
Gosselin, Clement .
IEEE TRANSACTIONS ON ROBOTICS, 2010, 26 (01) :166-173
[8]   Generalized transmission index and transmission quality for spatial linkages [J].
Chen, Chao ;
Angeles, Jorge .
MECHANISM AND MACHINE THEORY, 2007, 42 (09) :1225-1237
[9]   Kinematic, dynamic, and performance analysis of a new 3-DOF over-constrained parallel mechanism without parasitic motion [J].
Chen, Miao ;
Zhang, Qing ;
Qin, Xianrong ;
Sun, Yuantao .
MECHANISM AND MACHINE THEORY, 2021, 162
[10]  
Do Thanh T., 2009, PROC IEEE INT C MECH, P1