A novel six-degrees-of-freedom series-parallel manipulator
- 799 Downloads
This paper addresses the description and kinematic analyses of a new non-redundant series-parallel manipulator. The primary feature of the robot is to have a decoupled topology consisting of a lower parallel manipulator, for controlling the orientation of the coupler platform, assembled in series connection with a upper parallel manipulator, for controlling the position of the output platform, capable to provide arbitrary poses to the output platform with respect to the fixed platform. The forward displacement analysis is carried-out in semi-closed form solutions by resorting to simple closure equations. On the other hand; the velocity, acceleration and singularity analyses of the manipulator are approached by means of the theory of screws. Simple and compact expressions are derived here for solving the infinitesimal kinematics by taking advantage of the concept of reciprocal screws. Furthermore, the analysis of the Jacobians of the robot shows that the lower parallel manipulator is practically free of singularities. In order to illustrate the performance of the manipulator, a numerical example which consists of solving the inverse/forward kinematics of the series-parallel manipulator as well as its singular configurations is provided.
KeywordsParallel manipulator Compliant orientation Compliant translation Screw theory Kinematics
Unable to display preview. Download preview PDF.
- V. E. Gough and S. G. Whitehall, Universal tire testing machine, Proc. of the FISITA Ninth International Technical Congress, IMechE 1 (1962) 117–137.Google Scholar
- I. A. Bonev, Geometric analysis of parallel mechanisms, thèse de doctorat, Université Laval, Canada, November (2002).Google Scholar
- I. A. Bonev, Direct kinematics of zero-torsion parallel mechanisms, Proc. IEEE International Conference on Robotics and Automation, Pasadena, California, USA, May 19–23, 2008.Google Scholar
- G. H. Pfreundschuh, V. Kumar and T. H. Sugar, Design and control of a three-degree-of-freedom in-parallel actuated manipulator, Proc. of the IEEE International Conference on Robotics and Automation (1991) 1659–1664.Google Scholar
- S. K. Agrawal, Study of an in-parallel mechanism using reciprocal screws, Proc. of the 8-th World Congress on TMM (1991) 405–408.Google Scholar
- C. Gosselin and J. Angeles, Singularity analysis of closedloop kinematic chains, IEEE Trans. Robotics & Autom., 6 (1990) 261–290.Google Scholar