Skip to main content
SpringerLink
Log in

Kinetostatics analysis of a novel 6-DOF parallel manipulator with three planar limbs and equipped with three fingers

  • Published:
Chinese Journal of Mechanical Engineering Submit manuscript

Abstract

It is significant to develop a robot hand with high rigidity by a 6-DOF parallel manipulator(PM). However, the existing 6-DOF PMs include spherical joint which has less capability of pulling force bearing, less rotation range and lower precision under alternately heavy loads. A novel 6-DOF PM with three planar limbs and equipped with three fingers is proposed and its kinematics and statics are analyzed systematically. A 3-dimension simulation mechanism of the proposed manipulator is constructed and its structure characteristics is analyzed. The kinematics formulae for solving the displacement, velocity, acceleration of the platform, the active legs and the fingers are established. The statics formulae are derived for solving the active forces of PM and the finger mechanisms. An analytic example is given for solving the kinematics and statics of proposed manipulator and the analytic solved results are verified by the simulation mechanism. It is proved from the error analysis of analytic solutions and simulation solutions that the derived analytic formulae are correct and provide the theoretical and technical foundations for its manufacturing, control and application.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. MERLET J P. Parallel robots[M]. 2nd ed. Netherlands: Springer, 2006.

    MATH  Google Scholar 

  2. CRAIG J J. Introduction to robotics[M]. New York: Addison-Wesky Publishing Co. 1989.

    MATH  Google Scholar 

  3. FANG Yuefa, TSAI L W. Structure synthesis of a class of 4-DOF and 5-DOF parallel manipulators with identical limb structures[J]. International Journal of Robotics Research, 2002, 21(9): 799–810.

    Article  Google Scholar 

  4. BANDE P, SEIBT M, UHLMANN E, et al. Kinematics analyses of Dodekapod[J]. Mechanism and Machine Theory, 2005, 40(6): 740–756.

    Article  MATH  Google Scholar 

  5. ZHANG D, GAO Z. Hybrid head mechanism of the groundhog-like mine rescuse robot[J]. Robotics and Computer-Integrated Manufacturing, 2011, 27(2): 460–470.

    Article  Google Scholar 

  6. MCCOLL D, NOTASH L. Workspace formulation of planar wire-actuated parallel manipulators[J]. Robotica, 2011, 29(4): 607–617.

    Article  Google Scholar 

  7. LIU D, WANG T M, TANG C, et al. A hybrid robot system for CT-guided surgery[J]. Robotica, 2010, 28(2): 253–258.

    Article  Google Scholar 

  8. WANG W, ZHANG H X, YU W P. Design and realization of multimobile robot system with docking manipulator[J]. Journal of Mechanical Design, 2010, 132(11): 123–132.

    Article  Google Scholar 

  9. MIR-NASIRI N. Design, modelling and control of four-axis parallel robotic arm for assembly operations[J]. Assembly Automation, 2004, 24(4): 365–369.

    Article  Google Scholar 

  10. YAN C, GAO F, GUO W. Coordinated kinematic modelling for motion planning of heavy-duty manipulators in an integrated open-die forging centre[J]. Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, 2009, 223(10): 1299–1313.

    Article  Google Scholar 

  11. YI B J, NA H Y, LEE J H, et al. Design of a parallel-type gripper mechanism[J]. International Journal of Robotics Research, 2002, 21(7): 661–676.

    Article  Google Scholar 

  12. VAHEDI M, VAN D S, FRANK A. Caging polygons with two and three fingers[J]. International Journal of Robotics Research, 2008, 27(11–12): 1308–1324.

    Article  MATH  Google Scholar 

  13. TERASAKI H, HASEGAWA T. Motion planning of intelligent manipulation by a parallel two-fingered gripper equipped with a simple rotating mechanism[J]. IEEE Transactions on Robotics and Automation, 1998, 14(2): 207–219.

    Article  Google Scholar 

  14. PATRICIA B, MOSHE S. Singularity analysis of a class of parallel robots based on Grassmann-Cayley algebra[J]. Mechanism and Machine Theory, 2006, 41(6): 958–970.

    MathSciNet  MATH  Google Scholar 

  15. ZHANG D. Parallel robotic machine tools[M]. New York: Springer, 2010.

    Book  Google Scholar 

  16. HUANG Z, LI Q, DING H. Theory of parallel mechanisms[M]. New York: Springer, 2013.

    Book  Google Scholar 

  17. AGINAGA J, ZABALZA I, ALTUZARRA O, et al. Improving static stiffness of the 6-RUS parallel manipulator using inverse singularities[J]. Robotics and Computer-Integrated Manufacturing, 2012, 28(4): 458–471.

    Article  Google Scholar 

  18. ZHAO Y J, GAO F, DONG X J, et al. Elastodynamic characteristics comparison of the 8-PSS redundant parallel manipulator and its non-redundant counterpart- the 6-PSS parallel manipulator[J]. Mechanism and Machine Theory, 2010, 45(2): 291–303.

    Article  MATH  Google Scholar 

  19. JIANG H Z, TONG Z Z, HE J F. Dynamic isotropic design of a class of Gough-Stewart parallel manipulators lying on a circular hyperboloid of one sheet[J]. Mechanism and Machine Theory, 2011, 46(3): 358–374.

    Article  MATH  Google Scholar 

  20. TONG Z, HE J F, JIANG H Z, et al. Optimal design of a class of generalized symmetric Gough-Stewart parallel manipulators with dynamic isotropy and singularity-free workspace[J]. Robotica, 2012, 30(2): 305–314.

    Article  Google Scholar 

  21. WU J, LI T, WANG J, WANG L. Performance analysis and comparison of planar 3-DOF parallel manipulators with one and two additional branches[J]. Journal of Intelligent and Robotic Systems, 2013, 72(1): 73–82.

    Article  Google Scholar 

  22. WU J, WANG L, GUAN L. A study on the effect of structure parameters on the dynamic characteristics of a PRRRP parallel manipulator[J]. Nonlinear Dynamics, 2013, 74(1): 227–235.

    Article  Google Scholar 

  23. LI S, HUANG Z. Instantaneous kinematic characteristics of a special 3-UPU parallel manipulator[J]. Chinese Journal of Mechanical Engineering, 2005, 18(3): 376–381.

    Article  MathSciNet  Google Scholar 

  24. LU Y, HU B. Unification and simplification of velocity/acceleration of limited-DOF parallel manipulators with linear active legs[J]. Machine and Mechanism Theory, 2008, 43(9): 1112–1128.

    Article  MATH  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. College of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China

    Yi Lu & Xuepeng Li

  2. Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province, Qinhuangdao, 066004, China

    Yi Lu

  3. Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Qinhuangdao, 066004, China

    Yi Lu

Authors
  1. Yi Lu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Xuepeng Li
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Yi Lu.

Additional information

Supported by National Natural Science Foundation of China(Grant No. 51175447), and Key Planned Project of Hebei Province, China(Grant No. 11962127D)

LU Yi got his BS and MS(engineering) degrees at Northeast Heavy Machinery Institute, Qiqihar, China, and Dr. Sc. Tech. degree 1997 at University of Oulu, Finland. He completed post-doctor research in 2000. He has been a professor since 1998, and a supervisor of doctoral candidate since 2004 at Yanshan University, China. His research interests include robotics and technology, CAD/CAE/CAM. He has published more than 200 papers.

LI Xuepeng got his master degree at Yanshan University, China in 2014.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Lu, Y., Li, X. Kinetostatics analysis of a novel 6-DOF parallel manipulator with three planar limbs and equipped with three fingers. Chin. J. Mech. Eng. 27, 919–927 (2014). https://doi.org/10.3901/CJME.2014.0722.122

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.3901/CJME.2014.0722.122

Keywords

Search

Navigation