Kinematics analysis and workspace optimization for a 4-DOF 3T1R parallel manipulator

被引：30

作者：

Zhao, Jie ^{[1
,2
,3
]}

Wu, Cuncun ^{[4
]}

Yang, Guilin ^{[1
,3
]}

Chen, Chin-Yin ^{[1
,3
]}

Chen, Silu ^{[1
,3
]}

Xiong, Ciyuan ^{[1
,3
]}

Zhang, Chi ^{[1
,3
]}

机构：

[1] Chinese Acad Sci, Ningbo Inst Mat Technol & Engn, Ningbo 315201, Peoples R China

[2] Univ Chinese Acad Sci, Beijing 100049, Peoples R China

[3] Zhejiang Key Lab Robot & Intelligent Mfg Equipmen, Ningbo 315201, Peoples R China

[4] Suzhou Inovance Automot Co Ltd, Suzhou 215100, Peoples R China

来源：

MECHANISM AND MACHINE THEORY | 2022年 / 167卷

基金：

中国国家自然科学基金;

关键词：

Parallel mechanism; Offset angles; Kinematic analysis; Workspace optimization; SINGULARITY; MECHANISM; DESIGN; DELTA;

D O I：

10.1016/j.mechmachtheory.2021.104484

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A four degrees-of-freedom (DOF) Parallel Manipulator (PM) with a 4PPa-2PaR configuration has been proposed to generate 3-DOF Translational and 1-DOF Rotational (3T1R) motions in our early work. It has the advantages of symmetric geometry, simple kinematics and infinite extension of translational workspace along its linear guide direction. However, its V-type assembly mode results in a long distance between its moving platform and the base, which makes its stiffness and accuracy lower. Besides, its the other two translational workspaces are limited due to its kinematic singularities. To overcome such limitations, the PM is modified by utilizing its M-type assembly mode and placing an offset angle to the last parallelogram mechanism. To simplify the displacement analysis, a geometrical projection method is employed, while a closed-loop vector approach is used for its instantaneous kinematic analysis. Both singularity and workspace issues are investigated. An optimization algorithm based on Genetic Algorithm is proposed to maximize the reachable workspace. The optimization result indicates that the workspace is significantly increased. A prototype of the M-type PM is fabricated to validate the effectiveness of the modified design.

引用

页数：15

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