Frontiers of Mechanical Engineering

, Volume 13, Issue 2, pp 211–224 | Cite as

Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

  • Qizhi Meng
  • Fugui Xie
  • Xin-Jun Liu
Open Access
Research Article


This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom (DOFs) high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 1½ mobile platform. The mobile platform is a major innovation that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot’s DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.


spatial parallel robot pick-and-place operations mobility analysis kinematic modeling workspace identification 



This work was supported by the National Natural Science Foundation of China (Grant No. 51425501), and by the Beijing Municipal Science & Technology Commission (Grant No. Z17110000 0817007). The second author wishes to acknowledge the support provided by the Alexander von Humboldt (AvH) Foundation.


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Copyright information

© The Author(s) 2017

Open Access This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (, which permits unrestricted use, distribution, and reproduction in any medium, provided the appropriate credit is given to the original author(s) and the source, and a link is provided to the Creative Commons license, indicating if changes were made.

Authors and Affiliations

  1. 1.The State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Mechanical EngineeringTsinghua UniversityBeijingChina
  2. 2.Beijing Key Laboratory of Precision/Ultra-precision Manufacturing Equipments and ControlTsinghua UniversityBeijingChina

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