Abstract
This paper presents a novel four degrees of freedom (DOF) parallel mechanism with the closed-loop limbs, which includes two translational (2T) DOF and two rotational (2R) DOF. By connecting the proposed parallel mechanism with the guide rail in series, the 5-DOF hybrid robot system is obtained, which can be applied for the composite material tape laying in aerospace industry. The analysis in this paper mainly focuses on the parallel module of the hybrid robot system. First, the freedom of the proposed parallel mechanism is calculated based on the screw theory. Then, according to the closed-loop vector equation, the inverse kinematics and Jacobian matrix of the parallel mechanism are carried out. Next, the workspace stiffness and dexterity analysis of the parallel mechanism are investigated based on the constraint equations, static stiffness matrix and Jacobian condition number. Finally, the correctness of the inverse kinematics and the high stiffness of the parallel mechanism are verified by the kinematics and stiffness simulation analysis, which lays a foundation for the automatic composite material tape laying.
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This work was supported by Fundamental Research Funds for the Central Universities (No. 2018JBZ007).
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Hai-Rong Fang received the B.Eng. degree in mechanical engineering from Nanjing University of Science and Technology, China in 1990, the M. Eng. degree in mechanical engineering from Sichuan University, China in 1996, and the Ph.D. degree in mechanical engineering from Beijing Jiaotong University, China in 2005. She worked as associate professor in Department of Engineering Mechanics, Beijing Jiaotong University, China from 2003 to 2011. She is a professor in School of Mechanical Engineering from 2011 and director of Robotics Research Center, Beijing Jiaotong University, China.
Her research interests include parallel mechanisms, digital control, robotics and automation, and machine tool equipment.
Peng-Fei Liu received the B.Eng. degree in mechanical engineering from Beijing Jiaotong University, China in 2018. Currently, he is a master student at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China.
His research interests include robotics in computer integrated manufacturing and parallel manipulator.
Hui Yang received the B.Eng. degree in mechanical engineering from Shenyang Ligong University, China in 2014. She won the China Scholarship Council (CSC) Founding to Stony Brook University, the State University of New York as a joint Ph. D. student in 2018. Currently, she is a Ph. D. degree candidate at Beijing Jiaotong University, China.
Her research interests include parallel mechanisms, hybrid perfusion manipulator and intelligent manufacturing.
Bing-Shan Jiang received the B.Eng. degree in mechanical electronic engineering from Liaoning Technical University, China in 2015, and the M. Eng. degree in mechanical engineering from Liaoning Technical University, China in 2017. He is currently a Ph. D. degree candidate at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China.
His research interests include synthesis, kinematics, dynamics and control of parallel robots.
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Fang, HR., Liu, PF., Yang, H. et al. Design and Analysis of a Novel 2T2R Parallel Mechanism with the Closed-loop Limbs. Int. J. Autom. Comput. 18, 654–666 (2021). https://doi.org/10.1007/s11633-021-1294-z
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DOI: https://doi.org/10.1007/s11633-021-1294-z