Skip to main content
SpringerLink
Log in

Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical honeycomb perfusion

  • Research Article
  • Published:
Frontiers of Mechanical Engineering Aims and scope Submit manuscript

Abstract

A novel hybrid perfusion manipulator (HPM) with five degrees of freedom (DOFs) is introduced by combining the 5PUS-PRPU (P, R, U, and S represent prismatic, revolute, universal, and spherical joint, respectively) parallel mechanism with the 5PRR reconfigurable base to enhance the perfusion efficiency of the large-scale spherical honeycomb thermal protection layer. This study mainly presents the dimensional synthesis of the proposed HPM. First, the inverse kinematics, including the analytic expression of the rotation angles of the U joint in the PUS limb, is obtained, and mobility analysis is conducted based on screw theory. The Jacobian matrix of 5PUS-PRPU is also determined with screw theory and used for the establishment of the objective function. Second, a global and comprehensive objective function (GCOF) is proposed to represent the Jacobian matrix’s condition number. With the genetic algorithm, dimensional synthesis is conducted by minimizing GCOF subject to the given variable constraints. The values of the designed variables corresponding to different configurations of the reconfigurable base are then obtained. Lastly, the optimal structure parameters of the proposed 5-DOF HPM are determined. Results show that the HPM with the optimized parameters has an enlarged orientation workspace, and the maximum angle of the reconfigurable base is decreased, which is conducive to improving the overall stiffness of HPM.

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. Ackerman P K, Baker, A L, Newquist C W. US Patent 5322725, 1994-6-21

  2. Gogu C, Bapanapalli S K, Haftka R T, et al. Comparison of materials for an integrated thermal protection system for spacecraft reentry. Journal of Spacecraft and Rockets, 2009, 46(3): 501–513

    Article  Google Scholar 

  3. Erb R B, Greenshields D H, Chauvin L T, et al. Apollo thermal-protection system development. Journal of Spacecraft and Rockets, 2015, 7(1): 839–869

    Google Scholar 

  4. Wu D, Zhou A, Zheng L, et al. Study on the thermal protection performance of superalloy honeycomb panels in high-speed thermal shock environments. Theoretical & Applied Mechanics Letters, 2014, 4(2): 19–26

    Article  Google Scholar 

  5. Merlet J P. Parallel Robots. Dordrecht: Kluwer Academic Publishers, 2000

    Book  Google Scholar 

  6. Liu Y, Wang L, Wu J, et al. A comprehensive analysis of a 3-P(Pa)S spatial parallel manipulator. Frontiers of Mechanical Engineering, 2015, 10(1): 7–19

    Article  Google Scholar 

  7. Chaker A, Mlika A, Laribi M A, et al. Synthesis of spherical parallel manipulator for dexterous medical task. Frontiers of Mechanical Engineering, 2012, 7(2): 150–162

    Article  Google Scholar 

  8. Dong W, Du Z, Xiao Y, et al. Development of a parallel kinematic motion simulator platform. Mechatronics, 2013, 23(1): 154–161

    Article  Google Scholar 

  9. Guo S, Li D, Chen H, et al. Design and kinematic analysis of a novel flight simulator mechanism. In: Proceedings of 2014 International Conference on Intelligent Robotics and Applications (ICIRA). Guangzhou: Springer, 2014, 23–34

    Google Scholar 

  10. Wu G, Bai S, Hjørnet P. Architecture optimization of a parallel Schönflies-motion robot for pick-and-place applications in a predefined workspace. Mechanism and Machine Theory, 2016, 106: 148–165

    Article  Google Scholar 

  11. Mo J, Shao Z, Guan L, et al. Dynamic performance analysis of the X4 high-speed pick-and-place parallel robot. Robotics and Computer-Integrated Manufacturing, 2017, 46: 48–57

    Article  Google Scholar 

  12. Wu J, Gao Y, Zhang B, et al. Workspace and dynamic performance evaluation of the parallel manipulators in a spray-painting equipment. Robotics and Computer-Integrated Manufacturing, 2017, 44: 199–207

    Article  Google Scholar 

  13. Zhang B, Wu J, Wang L, et al. Accurate dynamic modeling and control parameters design of an industrial hybrid spray-painting robot. Robotics and Computer-Integrated Manufacturing, 2020, 63: 101923

    Article  Google Scholar 

  14. Xie F, Liu X, Wang J A. 3-DOF parallel manufacturing module and its kinematic optimization. Robotics and Computer-Integrated Manufacturing, 2012, 28(3): 334–343

    Article  Google Scholar 

  15. Sun T, Song Y, Dong G, et al. Optimal design of a parallel mechanism with three rotational degrees of freedom. Robotics and Computer-Integrated Manufacturing, 2012, 28(4): 500–508

    Article  Google Scholar 

  16. Yang H, Fang H, Ge Q J, et al. On the kinematic performance of a novel 5-DOF reconfigurable hybrid manipulator with ultra large workspace for automatic perfusion of a large-scale spherical honeycomb structure. In: Proceedings of 2019 ASME International Design Engineering Technical Conferences (IDETC). Anaheim: ASME, 2019, 1–9

    Google Scholar 

  17. Liu X. Optimal kinematic design of a three translational DoFs parallel manipulator. Robotica, 2006, 24(2): 239–250

    Article  Google Scholar 

  18. Liu X, Li J, Zhou Y. Kinematic optimal design of a 2-degree-of-freedom 3-parallelogram planar parallel manipulator. Mechanism and Machine Theory, 2015, 87: 1–17

    Article  Google Scholar 

  19. Liu X, Chen X, Li Z. Modular design of typical rigid links in parallel kinematic machines: Classification and topology optimization. Frontiers of Mechanical Engineering, 2012, 7(2): 199–209

    Article  Google Scholar 

  20. Shin H, Lee S, Jeong J I, et al. Antagonistic stiffness optimization of redundantly actuated parallel manipulators in a predefined workspace. IEEE/ASME Transactions on Mechatronics, 2013, 18(3): 1161–1169

    Article  Google Scholar 

  21. Liu X, Wang J. A new methodology for optimal kinematic design of parallel mechanisms. Mechanism and Machine Theory, 2007, 42(9): 1210–1224

    Article  Google Scholar 

  22. Wang L, Xu H, Guan L. Optimal design of a 3-PUU parallel mechanism with 2R1T DOFs. Mechanism and Machine Theory, 2017, 114: 190–203

    Article  Google Scholar 

  23. Kelaiaia R, Company O, Zaatri A. Multiobjective optimization of a linear Delta parallel robot. Mechanism and Machine Theory, 2012, 50: 159–178

    Article  Google Scholar 

  24. Wan X, Li Q, Wang K. Dimensional synthesis of a robotized cell of support fixture. Robotics and Computer-Integrated Manufacturing, 2017, 48: 80–92

    Article  Google Scholar 

  25. Altuzarra O, Pinto C, Sandru B, et al. Optimal dimensioning for parallel manipulators: Workspace, dexterity, and energy. Journal of Mechanical Design, 2011, 133(4): 041007

    Article  Google Scholar 

  26. Wu J, Chen X, Li T, et al. Optimal design of a 2-DOF parallel manipulator with actuation redundancy considering kinematics and natural frequency. Robotics and Computer-Integrated Manufacturing, 2013, 29(1): 80–85

    Article  Google Scholar 

  27. Qi Y, Sun T, Song Y. Multi-objective optimization of parallel tracking mechanism considering parameter uncertainty. Journal of Mechanisms and Robotics, 2018, 10(4): 041006

    Article  Google Scholar 

  28. Klein J, Spencer S, Allington J, et al. Optimization of a parallel shoulder mechanism to achieve a high-force, low-mass, robotic-arm exoskeleton. IEEE Transactions on Robotics, 2010, 26(4): 710–715

    Article  Google Scholar 

  29. Song Y, Lian B, Sun T, et al. A novel five-degree-of-freedom parallel manipulator and its kinematic optimization. Journal of Mechanisms and Robotics, 2014, 6(4): 041008

    Article  Google Scholar 

  30. Cheng Y, Yu D. Optimal design of a parallel bionic eye mechanism. Journal of Mechanisms and Robotics, 2019, 33(2): 879–887

    Google Scholar 

  31. Daneshmand M, Saadatzi M H, Kaloorazi M H F, et al. Optimal design of a spherical parallel manipulator based on kinetostatic performance using evolutionary techniques. Journal of Mechanical Science and Technology, 2016, 30(3): 1323–1331

    Article  Google Scholar 

  32. Gosselin C, Angeles J. A global performance index for the kinematic optimization of robotic manipulators. Journal of Mechanical Design, 1991, 113(3): 220–226

    Article  Google Scholar 

  33. Huang T, Li M, Zhao X, et al. Conceptual design and dimensional synthesis for a 3-DOF module of the TriVariant—A novel 5-DOF reconfigurable hybrid robot. IEEE Transactions on Robotics, 2005, 21(3): 449–456

    Article  Google Scholar 

  34. Liu H, Huang T, Mei J, et al. Kinematic design of a 5-DOF hybrid robot with large workspace/limb-stroke ratio. Journal of Mechanical Design, 2007, 129(5): 530–537

    Article  Google Scholar 

  35. Sun T, Song Y, Li Y, et al. Workspace decomposition based dimensional synthesis of a novel hybrid reconfigurable robot. Journal of Mechanisms and Robotics, 2010, 2(3): 031009

    Article  Google Scholar 

  36. Fang Y, Tsai L W. Structure synthesis of a class of 4-DoF and 5-DoF parallel manipulators with identical limb structures. International Journal of Robotics Research, 2002, 21(9): 799–810

    Article  Google Scholar 

  37. Joshi S A, Tsai L W. Jacobian analysis of limited-DOF parallel manipulators. Journal of Mechanical Design, 2002, 124(2): 254–258

    Article  Google Scholar 

  38. Angeles J. The design of isotropic manipulator architectures in the presence of redundancies. International Journal of Robotics Research, 1992, 11(3): 196–201

    Article  Google Scholar 

Download references

Acknowledgements

The authors gratefully acknowledge the financial support provided by the Fundamental Research Funds for Central Universities, China (Grant No. 2018JBZ007), the China Scholarship Council (Grant No. 201807090006), and the National Natural Science Foundation of China (Grant No. 51675037).

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Beijing Jiaotong University, Beijing, 100044, China

    Hui Yang, Hairong Fang & Yuefa Fang

  2. School of Mechanical Engineering, Southwest Jiaotong University, Chengdu, 610031, China

    Xiangyun Li

Authors
  1. Hui Yang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Hairong Fang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Yuefa Fang
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Xiangyun Li
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Hairong Fang.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Yang, H., Fang, H., Fang, Y. et al. Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical honeycomb perfusion. Front. Mech. Eng. 16, 46–60 (2021). https://doi.org/10.1007/s11465-020-0606-2

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11465-020-0606-2

Keywords

Search

Navigation