Abstract
This paper presents a HEXA parallel robots with reconfigurable platforms of Schönflies motion and its kinematic study. Four limbs of the robot forms a fully parallel Schönflies-motion robot, with a six-bar linkage to locate the second end-effector. The second end-effector is constrained by a four-bar linkage subject to a prescribed pose of the first end-effector as well as the two remaining limbs. The kinematic issues of the robot, i.e., the inverse geometry, kinematic constraints of the reconfigurable platforms and Jacobian matrices, are studied. Some transmission indices are defined to investigate the robot performance and the reachable workspace for both end-effectors are identified. The isocontours of the transmission indices over the regular workspace are visualized for graphical presentation of the robot’s transmission performance.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Adept Quattro Parallel Robots. http://www1.adept.com/main/ke/data/Archived/Quattro/sQuattro_UG.pdf
M-3i A Delta robot. http://www.fanuc.eu/se/en/robots/robot-filter-page/m3-series/m-3ia-6a
Altuzarra, O., Şandru, B., Pinto, C., Petuya, V.: A symmetric parallel Schönflies-motion manipulator for pick-and-place operations. Robotica 29, 853–862 (2011)
Balmaceda-Santamaría, A., Castillo-Castaneda, E., Gallardo-Alvarado, J.: A novel reconfiguration strategy of a Delta-type parallel manipulator. Int. J. Adv. Robot. Syst. 13, 1 (2016)
Corbel, D., Gouttefarde, M., Company, O., Pierrot, F.: Actuation redundancy as a way to improve the acceleration capabilities of 3 T and 3T1R pick-and-place parallel manipulators. ASME J. Mech. Robot. 2(4), 041002 (2010)
Gosselin, C., Isaksson, M., Marlow, K., Laliberté, T.: Workspace and sensitivity analysis of a novel nonredundant parallel SCARA robot featuring infinite tool rotation. IEEE Robot. Autom. Lett. 1(2), 776–783 (2016)
Krut, S., Nabat, V., Company, O., Pierrot, F.: A high-speed parallel robot for SCARA motions. In: International Conference on Robotics Automation, vol. 4, pp. 4109–4115 (2004)
Lambert, P.: Parallel robots with configurable platforms. Ph.D. thesis, Delft University of Technology (2013)
Pierrot, F., Dauchez, P., Fournier, A.: HEXA: a fast six-dof fully-parallel robot. In: Fifth International Conference on Advanced Robotics, pp. 1158–1163 (1991)
Pierrot, F., Nabat, V., Company, O., Krut, S., Poignet, P.: Optimal design of a 4-dof parallel manipulator: From academia to industry. IEEE Trans. Robot. 25(2), 213–224 (2009)
Takeda, Y., Funabashi, H.: A transmission index for in-parallel wire-driven mechanisms. JSME Inter. J. Series C Mech. Syst. Mach. Elem. Manuf. 44(1), 180–187 (2001)
Wu, G.: Conceptual design and analysis of a 6-axis double Delta robot towards high acceleration. In: Proceedings of ASIAN MMS 2016 & CCMMS 2016, pp. 389–401 (2016)
Wu, G.: Kinematic analysis and optimal design of a wall-mounted four-limb parallel Schönflies-motion robot for pick-and-place operations. J. Intell. Robot. Syst. 85, 663–667 (2016)
Wu, G., Bai, S., Hjørnet, P.: Architecture optimization of a parallel schönflies-motion robot for pick-and-place applications in a predefined workspace. Mech. Mach. Theory 106, 148–165 (2016)
Acknowledgements
The reported work is supported by the Fundamental Research Funds for the Central Universities under grant No. DUT16RC(3)068.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this paper
Cite this paper
Wu, G., Dong, H. (2018). Kinematics of a 6-RUU Parallel Robots with Reconfigurable Platforms. In: Zeghloul, S., Romdhane, L., Laribi, M. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 50. Springer, Cham. https://doi.org/10.1007/978-3-319-60867-9_38
Download citation
DOI: https://doi.org/10.1007/978-3-319-60867-9_38
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-60866-2
Online ISBN: 978-3-319-60867-9
eBook Packages: EngineeringEngineering (R0)