Advertisement

Kinematics, workspace and optimal design of a novel 4RSS + PS parallel manipulator

  • Soheil ZarkandiEmail author
Technical Paper
  • 78 Downloads

Abstract

In this paper, a novel four degrees of freedom (DOFs) parallel manipulator (PM) is introduced and its kinematics, workspace and optimal design are systematically studied. The manipulator is called 4RSS + PS PM having four active RSS type legs and one passive PS type leg. R, S and P stand for revolute, spherical and prismatic joints, respectively, and R denotes the actuated revolute joints. Moving platform of the manipulator has three rotational motions along with one translational motion (3R1T). As an advantage, rotational motion of the moving platform around the axis of its translational motion has no limitation. This makes the manipulator so suitable for machining applications in holes, cylinders and so on. Closed form solutions are found for the inverse and forward position kinematics problems of the manipulator. The manipulator workspace is determined numerically in a 3D space. A special design of the manipulator free of inverse and forward kinematic singularities is specified. Kinematic dexterity analysis is carried out based on the condition number of the manipulator Jacobian matrix showing that the manipulator has no singularity inside the workspace. Two architecture optimizations are also presented to achieve a maximum workspace volume of the manipulator, and to find a workspace with a desired value of kinematic dexterity.

Keywords

Parallel manipulator 4 DOFs Kinematics Singularity Workspace Optimal design 

Notes

References

  1. 1.
    Stewart D (1965) A platform with six degrees of freedom. Proc Inst Mech Eng 180(1):371–386CrossRefGoogle Scholar
  2. 2.
    Dong W, Du Zh, Xiao Y, Chen X (2013) Development of a parallel kinematic motion simulator platform. Mechatronics 23(1):154–161CrossRefGoogle Scholar
  3. 3.
    Chen S-L, You I-T (2000) Kinematic and singularity analyses of a six DOF 6-3-3 parallel link machine tool. Int J Adv Manuf Technol 16:835–842CrossRefGoogle Scholar
  4. 4.
    Harib K, Srinivasan K (2003) Kinematic and dynamic analysis of stewart platform-based machine tool structures. Robotica 21(5):541–554CrossRefGoogle Scholar
  5. 5.
    Xifeng F, Sichong Z, Qinhuan X, Tongyue W, Yuanwei L, Xiaogang Ch (2015) Optimization of a crossbar parallel machine tool based on workspace and dexterity. J Mech Sci Technol 29(8):3297–3307CrossRefGoogle Scholar
  6. 6.
    Lee S-U, Kim S (2006) Analysis and optimal design of a new 6 DOF parallel type haptic device. In: 2006 IEEE/rsj international conference on intelligent robots and systemsGoogle Scholar
  7. 7.
    Yoon JW, Ryu J, Hwang Y-K (2010) Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application. J Mech Sci Technol 24(5):1151–1162CrossRefGoogle Scholar
  8. 8.
    Dalvand MM, Shirinzadeh B (2013) Motion control analysis of a parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS). Robot Comput-Integr Manuf 29:318–327CrossRefGoogle Scholar
  9. 9.
    Briot S, Bonev IA (2009) Pantopteron: a new fully decoupled 3DOF translational parallel robot for pick-and-place applications. J Mech Robot 1(2):021001CrossRefGoogle Scholar
  10. 10.
    Li Z, Lou Y, Li Z, Yang G, Gao J (2010) T2: a novel two degree-of-freedom translational parallel robot for pick-and-place operation. In: 2010 8th IEEE international conference on control and automation, Xiamen, China, June 9–11Google Scholar
  11. 11.
    Li Y, Xu Q (2007) Kinematic analysis of a 3-PRS parallel manipulator. Robot Comput-Integr Manuf 23:395–408CrossRefGoogle Scholar
  12. 12.
    Li Y, Xu Q (2005) Dynamic analysis of a modified DELTA parallel robot for cardiopulmonary resuscitation. In: IEEE/RSJ international conference on intelligent robots and systems (IROS)Google Scholar
  13. 13.
    Wang C, Fang Y, Guo S (2013) Design and kinematical performance analysis of a 3-RUS/RRR redundantly actuated parallel mechanism for ankle rehabilitation. J Mech Robot 5(4):041003CrossRefGoogle Scholar
  14. 14.
    Jamwal PK, Xie SQ, Tsoi YH, Aw KC (2010) Forward kinematics modeling of a parallel ankle rehabilitation robot using modified fuzzy inference. Mech Mach Theory 45:1537–1554CrossRefGoogle Scholar
  15. 15.
    Piccin O, Bayle B, Maurin B (2009) Kinematic modeling of a 5-DOF parallel mechanism for semi-spherical workspace. Mech Mach Theory 44(8):1485–1496CrossRefGoogle Scholar
  16. 16.
    Gosselin C, Angeles J (1988) The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator. ASME J Mech Transm Automat Des 111(2):202–207CrossRefGoogle Scholar
  17. 17.
    Enferadi J, Shahi A (2016) On the position analysis of a new spherical parallel robot with orientation applications. Robot Comput-Integr Manuf 37:151–161CrossRefGoogle Scholar
  18. 18.
    Zlatanov YD, Gosselin CM (2001) A family of new parallel architectures with four degrees of freedom. In: Proceedings of the 2nd workshop on computational kinematics, Seoul, Korea, 19–22, pp 57–66Google Scholar
  19. 19.
    Zlatanov D, Zoppi M, Gosselin C (2004) Singularities and mobility of a class of 4-DOF mechanisms. In: Lenarcic J, Galletti C (eds) Advances in Robot Kinematics. Kluwer, Sestri Levante, pp 105–112Google Scholar
  20. 20.
    Zoppi M, Zlatanov D, Gosselin CM (2005) Analytical kinematics models and special geometries of a class of 4-DOF parallel mechanisms. IEEE Trans Robot 21(6):1046–1055CrossRefGoogle Scholar
  21. 21.
    Huang Z, Li QC (2002) General methodology for type synthesis of lower-mobility symmetrical parallel manipulators and several novel manipulators. Int J Robot Res 21(2):131–145CrossRefGoogle Scholar
  22. 22.
    Li QC, Huang Z (2003) A family of symmetrical lower-mobility parallel mechanisms with spherical and parallel subchains. J Robot Syst 20(6):297–305CrossRefGoogle Scholar
  23. 23.
    Li QC, Hu XD, Chen QH et al (2009) Jacobian analysis of symmetrical 4-DOF 3R1T parallel mechanisms. J Mech Eng 45(4):50–55CrossRefGoogle Scholar
  24. 24.
    Zarkandi S (2011) Kinematics and singularity analysis of a parallel manipulator with three rotational and one translational Dofs. Mech Des Struct Mach 39:392–407CrossRefGoogle Scholar
  25. 25.
    Cheng G, Yu JL, Ge SR et al (2011) Workspace analysis of 3SPS + 1PS bionic parallel test platform for a hip joint simulator. Proc Inst Mech Eng 225(9):2216–2231Google Scholar
  26. 26.
    Cheng G, Yu J-L, Gu W (2012) Kinematic analysis of 3SPS + 1PS bionic parallel test platform for hip joint simulator based on unit quaternion. Robot Comput-Integr Manuf 28:257–264CrossRefGoogle Scholar
  27. 27.
    Guo S, Wang C, Qu H, Fang Y (2012) A novel 4-RRCR parallel mechanism based on screw theory and its kinematics analysis. Proc IMechE Part C: J Mech Eng Sci 227(9):2039–2048CrossRefGoogle Scholar
  28. 28.
    Song YM, Gao H, Sun T et al (2014) Kinematic analysis and optimal design of a novel 1T3R parallel manipulator with an articulated travelling plate. Robot Comput-Integr Manuf 30(5):508–516CrossRefGoogle Scholar
  29. 29.
    Salmon G (2002) Lessons introductory to the modern higher algebra, third edition. Adamant Media CorporationGoogle Scholar
  30. 30.
    Majid MZA, Huang Z, Yao YL (2000) Workspace analysis of a six-degrees of freedom, three-prismatic-spherical-revolute parallel manipulator. Int J Adv Manuf Technol 16:441–449CrossRefGoogle Scholar
  31. 31.
    Li Y, Xu Q (2005) Kinematics and dexterity analysis for a novel 3-DOF translational parallel manipulator. In: Proceedings of IEEE international conference on robotics and automation, Barcelona, Spain, April 18–22, pp 2955–2960Google Scholar
  32. 32.
    Salisbury JK, Graig J (1982) Articulated hands: force control and kinematic issues. Int J Robot Res 1(1):4–17CrossRefGoogle Scholar
  33. 33.
    Gosselin CM (1990) Dexterity indices for planar and spatial robotic manipulators. In: Proceedings IEEE international conference robotics and automation, pp 650–655Google Scholar
  34. 34.
    Kucuk S (2018) Dexterous workspace optimization for a new hybrid parallel robot manipulator. J Mech Robot 10(6):064503CrossRefGoogle Scholar
  35. 35.
    Price K, Storn R, Lampinen J (2005) Differential evolution: a practical approach to global optimization. Springer, BerlinzbMATHGoogle Scholar

Copyright information

© The Brazilian Society of Mechanical Sciences and Engineering 2019

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringBabol Noshirvani University of TechnologyBabolIran

Personalised recommendations