A Novel Three-Loop Parallel Robot With Full Mobility: Kinematics, Singularity, Workspace, and Dexterity Analysis

被引:39
作者
Li, Wei [1 ]
Angeles, Jorge [1 ]
机构
[1] McGill Univ, Dept Mech Engn, Ctr Intelligent Machines, Montreal, PQ H3A 0C3, Canada
来源
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2017年 / 9卷 / 05期
基金
加拿大自然科学与工程研究理事会;
关键词
three-limb parallel robots; hybrid robots; full mobility; cylindrical actuators; singularity; workspace; dexterity; parallel-kinematics machine (PKM); GRASSMANN-CAYLEY ALGEBRA; STEWART PLATFORM; MANIPULATOR SINGULARITIES; SPECIAL CONFIGURATIONS; MECHANISM; DESIGN; CLASSIFICATION; IDENTIFICATION; GEOMETRIES; ISOTROPY;
D O I
10.1115/1.4037112
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
A novel parallel robot, dubbed the SDelta, is the subject of this paper. SDelta is a simpler alternative to both the well-known Stewart-Gough platform (SGP) and current threelimb, full-mobility parallel robots, as it contains fewer components and all its motors are located on the base. This reduces the inertial load on the system, making it a good candidate for high-speed operations. SDelta features a symmetric structure; its forward-displacement analysis leads to a system of three quadratic equations in three unknowns, which admits up to eight solutions, or half the number of those admitted by the SGP. The kinematic analysis, undertaken with a geometrical method based on screw theory, leads to two Jacobian matrices, whose singularity conditions are investigated. Instead of using the determinant of a 6 x 6 matrix, we derive one simple expression that characterizes the singularity condition. This approach is also applicable to a large number of parallel robots whose six actuation wrench axes intersect pairwise, such as all three-limb parallel robots whose limbs include, each, a passive spherical joint. The workspace is analyzed via a geometric method, while the dexterity analysis is conducted via discretization. Both show that the given robot has the potential to offer both large workspace and good dexterity with a proper choice of design variables.
引用
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页数:10
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