Reconsideration of terminal constraint/mobility and kinematics of 5-DOF hybrid manipulators formed by one 2R1T PM and one RR SM

被引：26
作者：
Hu, Bo [1 ,2 ]
Shi, Yanguo [1 ,2 ]
Xu, Luzhou [1 ,2 ]
Bai, Peng [1 ,2 ]
机构：
[1] Yanshan Univ, Parallel Robot & Mechatron Syst Lab Hebei Prov, Qinhuangdao 066004, Hebei, Peoples R China
[2] Yanshan Univ, Minist Natl Educ, Key Lab Adv Forging & Stamping Technol & Sci, Qinhuangdao 066004, Hebei, Peoples R China
来源：
MECHANISM AND MACHINE THEORY | 2020年 / 149卷
关键词：
Hybrid manipulators; Exechon; Inverse kinematics; Jacobian; GRASSMANN-CAYLEY ALGEBRA; PARALLEL MANIPULATOR; STIFFNESS; MACHINE; 3-DOF; ROBOT; SINGULARITY; MOBILITY; DESIGN; MODULE;
D O I：
10.1016/j.mechmachtheory.2020.103837
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Hybrid manipulators formed by one 2R1T parallel manipulator (PM) and one RR serial manipulator (SM) have been widely studied. However, the previous researches only focused on the PM part. The basic terminal constraint/mobility and kinematics issues of the integrated hybrid manipulators have been ignored and thus should be reconsidered. The paper studies the basic motion and constraint issues of the integrated hybrid manipulators by using the Exechon hybrid manipulator as a case. First, using Grassmann-Cayley algebra(GCA), a method for deriving the terminal constraint of the 5-DOF hybrid manipulator is proposed and the terminal DOF property is solved. Second, the terminal position and orientation coupling relation in the hybrid manipulator is revealed based on the elimination method and the inverse displacement is solved. Third, the 6 x 6 form full Jacobian containing all actuation and constraint information of the manipulator is derived. The established models in this paper are applicable for the 5-DOF hybrid manipulators. (C) 2020 Elsevier Ltd. All rights reserved.
引用
收藏
页数：11
相关论文
共 37 条
[1]   Singularity analysis of a class of parallel robots based on Grassmann-Cayley algebra [J].
Ben-Horin, Patricia ;
Shoham, Moshe .
MECHANISM AND MACHINE THEORY, 2006, 41 (08) :958-970
[2]   Application of Grassmann-Cayley Algebra to Geometrical Interpretation of Parallel Robot Singularities [J].
Ben-Horin, Patricia ;
Shoham, Moshe .
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2009, 28 (01) :127-141
[3]   Kinetostatic modeling of Exechon parallel kinematic machine for stiffness analysis [J].
Bi, Z. M. .
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2014, 71 (1-4) :325-335
[4]   Kinematic modeling of Exechon parallel kinematic machine [J].
Bi, Z. M. ;
Jin, Y. .
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2011, 27 (01) :186-193
[5]   The tricept robot: Dynamics and impedance control [J].
Caccavale, F ;
Siciliano, B ;
Villani, L .
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2003, 8 (02) :263-268
[6]   A type synthesis method for hybrid robot structures [J].
Campos, Alexandre ;
Budde, Christoph ;
Hesselbach, Juergen .
MECHANISM AND MACHINE THEORY, 2008, 43 (08) :984-995
[7]   Mobility of overconstrained parallel mechanisms [J].
Dai, JS ;
Huang, Z ;
Lipkin, H .
JOURNAL OF MECHANICAL DESIGN, 2006, 128 (01) :220-229
[8]   Performance Analysis, Mapping, and Multiobjective Optimization of a Hybrid Robotic Machine Tool [J].
Gao, Zhen ;
Zhang, Dan .
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2015, 62 (01) :423-433
[9]   Kinematically identical manipulators for the Exechon parallel manipulator and their comparison study [J].
Hu, Bo .
MECHANISM AND MACHINE THEORY, 2016, 103 :117-137
[10]   Conceptual design and dimensional synthesis for a 3-DOF module of the invariant - A novel 5-DOF reconfigurable hybrid robot [J].
Huang, T ;
Li, M ;
Zhao, XM ;
Mei, JP ;
Chetwynd, DG ;
Hu, SJ .
IEEE TRANSACTIONS ON ROBOTICS, 2005, 21 (03) :449-456
1234