Abstract
We addressed the issue of the design of mechanical coxa joints based on three-degree-of-freedom spherical parallel manipulators using the parameter statistics optimum method based on index atlases. The coxa joints have the advantages of high payload, high accuracy, and good technological efficiency. The first step of the design and prototyping used in this paper develops the direct and inverse displacement equations from the layout feature of the mechanical coxa joints. Then, the shapes of a constant-orientation workspace of the mechanical coxa joints are described, and the effects of the design parameters on the workspace volume are studied quantitatively. The next step deals with the graphical representation of the atlases that illustrates the relationship between performance evaluation index and design parameters based on the kinematics and torque analysis of the mechanical coxa joints. Finally, the geometric parameters of the coxa joints are obtained by the parameter statistics optimum method based on the index atlases. Considering assembly conditions, the design scheme of the mechanical coxa joints is developed, which provides a theoretical basis for the application of the mechanical coxa joints.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
H. Mahir and L. Notash, 2007, Optimizing fault tolerance to joint jam in the design of parallel robot manipulators, Mech. Mach. Theory, 42(10) (2007) 1401–1417.
Z. Huang, S. S. Zhao and T. S. Zhao, Advanced spatial mechanism, China, Beijing: Higher Education Press (2006) 326–385.
C. M. Gosselin and S. G. Pierre, On the development of the agile eye: mechanical design, control issues and experimentation, IEEE Robotics and Automation Society Magazine, 3(4) (1996) 29–37.
G. R. Di, 2004, On the direct problem singularities of a class of 3-DOF parallel manipulators, Robotics, 22(4) (2004) 389–394.
J. G. Wang and C. M. Gosselin, Static balancing of spatial three-degree-of-freedom parallel mechanisms, Mech. Mach. Theory, 34(3) (1999) 437–452.
L. N. Sun, Y. Liu and Y. H. Zhu, A kinematic analysis of 3-dof decoupled spherical parallel mechanism used for the wrist joint, China Mechanical Engineering, 14(10) (2003) 831–833.
X. J. Liu, Z. L. Jin and F. Gao, Optimum design of 3-DOF spherical parallel manipulators with respect to the conditions and stiffness indices, Mech. Mach. Theory, 35(9) (2000) 1257–1267.
X. J. Zeng, T. Huang and Z. P. Zeng, et al, Mechanical design of 3-RRR NC rotary table, Jixie Sheji, 18(1) (2001) 13–17.
Y. B. Li and Z. L. Jin, Analysis and design of input torque of spherical 3-DOF manipulator, Optics and Precision Engineering, 15(5) (2007) 730–734.
J. A. Carretero, R. P. Podhorodeski and M. A. Nahon, etc, Kinematic analysis and optimization of a new three degreeof-freedom spatial parallel manipulator, ASME J. Mech. Des., 122(1) (2000) 17–24.
C. M. Gosselin, The optimum design of robotic manipulators using dexterity indices, Robotics and Autonomous Systems, 9(4) (1992) 213–226.
E. Ottaviano and M. Ceccarelli, Optimal design of capaman (cassino parallel manipulator) with a specified orientation workspace, Robotica, 20(2) (2002) 159–166.
J. Gallardo-Alvarado, R. Rodríguez-Castro and C. R. Aguilar-Nájera, etc, A novel six-degrees-of-freedom seriesparallel manipulator, Journal of Mechanical Science and Technology, 26(6) (2012) 1901–1909.
C. M. Gosselin and J. Angeles, The optimum kinematic design of a planar three-degree-of-freedom parallel manipulators, ASME J. Mech. Transm. Autom. Des., 110(1) (1989) 35–41.
C. M. Gosselin and J. Angeles, The optimum kinematic design of a spherical three degree-of-freedom parallel manipulator, J. Mech. Transm. Autom. Des., 111(2) (1988) 202–207.
C. M. Gosselin and J. Angeles, A global performance index for the kinematic optimization of robotic manipulators, ASME J. Mech. Des., 113(3) (1991) 220–226.
F. Gao, X. L. Liu and W. A. Gruver, The global conditioning index in the solution space of two degree-of-freedom planar parallel manipulators, IEEE SMC’95 (1995) 4055–4058.
F. Gao, X. L. Liu and W. A. Gruver, 1998, Performance evaluation of two degrees-of-freedom planar parallel robots, Mech. Mach. Theory, 33(2) (1998) 661–668.
R. Boudreau and C. M. Gosselin, The synthesis of planar parallel manipulators with a genetic algorithm, ASME J. Mech. Des., 121(4) (1999) 533–537.
J. P. Merlet, An improved design algorithm based on interval analysis for parallel manipulator with specified workspace, Proceedings of IEEE International Conference on Robotics and Automation (2001) 1289–1294.
F. Gao, Artificial intelligence and robotics in manufacturing, Washington, D. C., USA: CRC Press LLC (2001).
Y. B. Li, Analysis and design of a novel 6-DOF hybrid mechanical arm, Ph.D thesis, Yanshan University, Qinhuangdao, China (2008).
Y. Yue, F. Gao and X. C. Zhao, etc, Relationship among input-force, payload, stiffness, and displacement of a 6-DOF perpendicular parallel micromanipulator, Journal of Mechanisms and Roboticas, 45(5) (2010) 756–771.
Y. Yue, F. Gao and X. C. Zhao, etc, Relationship among input-force, payload, stiffness, and displacement of a 3-DOF perpendicular parallel micromanipulator, Journal of Mechanisms and Roboticas, 2(1) (2010) 1–9.
Author information
Authors and Affiliations
Corresponding author
Additional information
Recommended by Associate Editor Moon Ki Kim
Yanbiao Li is an Assistant Professor in the Department of Mechanical Engineering, Zhejiang University of Technology, Hangzhou City, China. He received the Ph.D. in 2008 from Yanshan University, Qinhuangdao City, China. His current research areas are robot design and precision engineering. He had authored more than 30 journal papers.
Rights and permissions
About this article
Cite this article
Li, Y., Jin, Z., Ji, S. et al. Design of mechanical coxa joints based on three-degree-of-freedom spherical parallel manipulators. J Mech Sci Technol 27, 103–112 (2013). https://doi.org/10.1007/s12206-012-1225-6
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12206-012-1225-6