Skip to main content
SpringerLink
Log in

Kinematics/statics analysis of a novel serial-parallel robotic arm with hand

  • Published:
Journal of Mechanical Science and Technology Aims and scope Submit manuscript

Abstract

A robotic arm with fingered hand generally has multi-functions to complete various complicated operations. A novel serial-parallel robotic arm with a hand is proposed and its kinematics and statics are studied systematically. A 3D prototype of the serial-parallel robotic arm with a hand is constructed and analyzed by simulation. The serial-parallel robotic arm with a hand is composed of an upper 3RPS parallel manipulator, a lower 3SPR parallel manipulator and a hand with three finger mechanisms. Its kinematics formulae for solving the displacement, velocity, acceleration of are derived. Its statics formula for solving the active/constrained forces is derived. Its reachable workspace and orientation workspace are constructed and analyzed. Finally, an analytic example is given for solving the kinematics and statics of the serial-parallel robotic arm with a hand and the analytic solutions are verified by a simulation mechanism.

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. J. Angeles, Fundamentals of mechanical robotic systems, 4th ed., Springer (2014).

    Book  MATH  Google Scholar 

  2. F. Zacharias, C. Borst, S. Wolf and G. Hirzinger, The capability map: A tool to analyze robot arm workspaces, International J. of Humanoid Robotics, 10 (4) (2013).

    Google Scholar 

  3. J. Roy, R. Goldberg and L. Whitcomb, Structural design, analysis, and performance evaluation of a new semi-direct drive robot arm: Theory and experiment, IEEE/ASME Transactions on Mechatronics, 9 (1) (2004) 10–19.

    Article  Google Scholar 

  4. K. De Laurentis and C. Mavroidis, Rapid fabrication of a non-assembly robotic hand with embedded components, Assembly Automation, 24 (4) (2004) 394–405.

    Article  Google Scholar 

  5. S. Rustemli, M. Yilmaz and M. Demirtas, Ripple reduction at speed and torque of step motors used on a two-axis robot arm, Robotics and Computer-Integrated Manufacturing, 26 (6) (2010) 759–767.

    Article  Google Scholar 

  6. N. Yagiz, Y. Hacioglu and Y. Z. Arslan, Load transportation by dual arm robot using sliding mode control, JMST, 24 (5) (2010) 1177–1184.

    Google Scholar 

  7. L. W. Tsai, Robot analysis: The mechanics of serial and parallel manipulators, Wiley (1999).

    Google Scholar 

  8. J. W. Yoon, J. Ryu and Y. K. Hwang, Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application, JMST, 24 (5) (2010) 1151–1162.

    Google Scholar 

  9. C. Yan, F. Gao and Y. Zhang, Kinematic modeling of a serial-parallel forging manipulator with application to heavyduty manipulations, Mechanics Based Design of Structures and Machines, 38 (1) (2010) 105–129.

    Article  MathSciNet  Google Scholar 

  10. S. Moosavian and A. Pourreza, Heavy object manipulation by a hybrid serial-parallel mobile robot, International J. of Robotics and Automation, 25 (2) (2010) 109–120.

    Article  Google Scholar 

  11. L. Romdhane, Design and analysis of a hybrid serial–parallel manipulator, Mechanism and Machine Theory, 34 (7) (1999) 1037–1055.

    Article  MATH  MathSciNet  Google Scholar 

  12. T. K. Tanev, Kinematics of a hybrid (parallel–serial) robot manipulator, Mechanism and Machine Theory, 35 (9) (2000) 1183–1196.

    Article  Google Scholar 

  13. B. Sandipan and G. Ashitava, Analytical determination of principal twists in serial, parallel and hybrid manipulators using dual vectors and matrices, Mechanism and Machine Theory, 39 (12) (2004) 1289–1305.

    Article  MATH  Google Scholar 

  14. Q. Zeng and Y. F. Fang, Structural synthesis and analysis of serial-parallel hybrid mechanisms with spatial multi-loop kinematic chains, Mechanism and Machine Theory, 49 (3) (2012) 198–215.

    Article  Google Scholar 

  15. S. H. Cha, T. A. Lasky and S. A. Velinsky, Kinematic redundancy resolution for serial-parallel manipulators via local optimization including joint constraints, Mechanics Based Design of Structures and Machines, 34 (2) (2006) 213–239.

    Article  Google Scholar 

  16. Y. Lu, B. Hu and T. Sun, Analyses of velocity, acceleration, statics, and workspace of a 2(3-SPR) serial–parallel manipulator, Robotica, 27 (4) (2009) 529–538.

    Article  Google Scholar 

  17. J. Gallardo-Alvarado, R. Rodriguez-Castro, C. R. Aguilar-Najera and L. Perez-Gonzalez, A novel six-degrees-offreedom series-parallel manipulator, JMST, 26 (6) (2012) 1901–1909.

    Google Scholar 

  18. C. Yan, F. Gao and W. Guo, Coordinated kinematic modelling for motion planning of heavy-duty manipulators in an integrated open-die forging centre, Proceedings of the Institution of Mechanical Engineers, Part B: J. of Engineering Manufacture, 223 (10) (2009) 1299–1313.

    Article  Google Scholar 

  19. J. Xu, T. Koo and Z. Li, Sampling-based finger gaits planning for multifingered robotic hand, Autonomous Robots, 28 (4) (2010) 385–402.

    Article  Google Scholar 

  20. A. J. G. Nuttall and A. J. Klein Breteler, Compliance effects in a parallel jaw gripper, Mechanism and Machine Theory, 38 (12) (2003) 1509–1522.

    Article  MATH  Google Scholar 

  21. J. Wu, J. Wang, L. Wang and T. Li, Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy, Mechanism and Machine Theory, 44 (4) (2009) 835–849.

    Article  MATH  Google Scholar 

  22. J. Wu, T. Li, J. Wang and L. Wang, Stiffness and natural frequency of a 3-DOF parallel manipulator with consideration of additional leg candidates, Robotics and Autonomous Systems, 61 (8) (2013) 868–875.

    Article  Google Scholar 

  23. J. Wu, X. Chen, L. Wang and X. Liu, Dynamic loadcarrying capacity of a novel redundantly actuated parallel conveyor, Nonlinear Dynamics, 78 (1) (2014) 241–250.

    Article  Google Scholar 

  24. G. Cheng, W. Gu and S. R. Ge, Kinematic analysis of a 3SPS+1PS parallel hip joint simulator based on Rodrigues parameters, JMST, 26 (10) (2012) 3299–3310.

    Google Scholar 

  25. Y. Lu and B. Hu. Unification and simplification of velocity/ acceleration of limited-dof parallel manipulators with linear active legs, Machine and Mechanism Theory, 43 (9) (2008) 1112–1128.

    Article  MATH  Google Scholar 

  26. Y. Lu, Y. Shi and B. Hu. Solving reachable workspace of some parallel manipulators by CAD variation geometry, Proceedings of the Institution of Mechanical Engineers, Part C, J. of Mechanical Engineering Science, 222 (9) (2008) 1773–1781.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, China

    Yi Lu, Zhuohong Dai, Nijia Ye & Peng Wang

  2. Parallel robot and mechatronic system laboratory of Hebei province, Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Qinhuangdao, Hebei, 066004, China

    Yi Lu

Authors
  1. Yi Lu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Zhuohong Dai
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Nijia Ye
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Peng Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Yi Lu.

Additional information

Recommended by Associate Editor Kyoungchul Kong

Yi Lu got his B.S. and M.S. (Engineering) at Northeast Heavy Machinery Institute in Qiqihar, China, and Dr. Sc. Tech. 1997 at University of Oulu, Finland. Dr. Yi Lu has been professor of College of Mechanical Engineering since 1998, and a supervisor of candidate of doctor since 2004 at Yanshan University in Qinhuangdao, P. R. China.

Zhuohong Dai is a Ph.D. candidate of at the College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, P. R. China.

Nijia Ye is a Ph.D. candidate at College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, P. R. China.

Peng Wang is a Ph.D. candidate at the College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, P. R. China.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Lu, Y., Dai, Z., Ye, N. et al. Kinematics/statics analysis of a novel serial-parallel robotic arm with hand. J Mech Sci Technol 29, 4407–4416 (2015). https://doi.org/10.1007/s12206-015-0939-7

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12206-015-0939-7

Keywords

Search

Navigation