Skip to main content
SpringerLink
Log in

Dynamics analysis and workspace of a novel 4-DoF parallel manipulator with multi-couple constrained wrenches

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

Abstract

A novel 4-DoF parallel manipulator with multi-couple constrained wrenches is proposed. Its 3D model is constructed and its characteristics, DoF and two couple-constrained wrenched are analyzed. Its kinematic formulae for solving DoF, the displacement, velocity, acceleration, singularities of moving links are derived and analyzed. Its dynamics formulae for solving the dynamic active forces and the dynamic couple-constrained wrench are derived, and its workspace is constructed. Finally, an analytic example is given to demonstrate the solution of the kinematics and dynamics, and the results of analytical solution are verified using a simulation mechanism. This paper is aimed at laying a solid theoretical and technical foundation of development of the parallel manipulators with multi-couple constrained wrenches.

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. Z. Huang, H. Ding and Q. Li, Theory of parallel mechanisms, Springer, New York (2013).

    Book  Google Scholar 

  2. F. Gao, W. Li, X. Zhao, Z. Jin and H. Zhao, New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs, Mechanism and Machine Theory, 37 (11) (2002) 1395–1411.

    Article  MATH  Google Scholar 

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

    Article  Google Scholar 

  4. H. R. Fang, Y. F. Fang and S. Guo, Structure synthesis of 4-dof parallel robot mechanisms based on screw theory, Chinese Journal of Mechanical Engineering, 17 (4) (2004) 486–489.

    Article  MathSciNet  Google Scholar 

  5. X. W. Kong and C. M. Gosselin, Type synthesis of 3T1R 4-DOF parallel manipulators based on screw theory, IEEE Transactions on Robotics and Automation, 20 (2) (2004) 181–190.

    Article  Google Scholar 

  6. X. W. Kong and C. M. Gosselin, Type synthesis of 4-DOF SPequivalent parallel manipulators: A virtual chain approach, Mechanism and Machine Theory, 41 (11) (2006) 1306–1319.

    Article  MATH  Google Scholar 

  7. M. Coste and K. M. Demdah, Extra modes of operation and self-motions in manipulators designed for schoenflies motion, Journal of Mechanisms and Robotics, Transactions of the ASME, 7 (4) (2015) 041020–1-6.

    Article  MATH  Google Scholar 

  8. S. Briot, V. Arakelian and S. Guégan, Design and prototyping of a partially decoupled 4-dof 3T1R parallel manipulator with high-load carrying capacity, Journal of Mechanical Design, Transactions of the ASME, 130 (12) (2008) 1223031–1223037.

    Article  Google Scholar 

  9. C. C. Lee and J. M. Hervé, Uncoupled actuation of overconstrained 3T-1R hybrid parallel manipulators, Robotica, 27 (1) (2009) 103–117.

    Article  Google Scholar 

  10. S. Zarkandi and H. Daniali, Direct kinematic analysis of a family of 4-DOF parallel manipulators with a passive constraining leg, Transactions of the Canadian Society for Mechanical Engineering, 35 (3) (2011) 437–459.

    Article  Google Scholar 

  11. H. B. Choi and J. Ryu, Singularity analysis of a four degreeof-freedom parallel manipulator based on an expanded 6×6 Jacobian matrix, Mechanism and Machine Theory, 57 (11) (2012) 51–61.

    Article  Google Scholar 

  12. J. Gallardo-Alvarado, J. M. Rico-Martínez and G. Alici, Kinematics and singularity analyses of a 4-dof parallel manipulator using screw theory, Mechanism and Machine Theory, 41 (9) (2006) 1048–1061.

    Article  MathSciNet  MATH  Google Scholar 

  13. J. Wu, Z. P. Yin and Y. L. Xiong, Singularity analysis of a novel 4-dof parallel manipulator H4, International Journal of Advanced Manufacturing Technology, 29 (7-8) (2006) 794–802.

    Article  Google Scholar 

  14. Q. Zeng, Y. F. Fang and K. F. Ehmann, Design of a novel 4-DOF kinematotropic hybrid parallel manipulator, ASME Journal of Mechanical Design, 133 (12) (2011).

    Google Scholar 

  15. K. Ibrahim, A. Ramadan, M. Fanni, Y. Kobayashi, A. Abo-Ismail and M. G. Fujie, Development of a new 4-DOF endoscopic parallel manipulator based on screw theory for laparoscopic surgery, Mechatronics, 28 (6) (2015) 4–17.

    Article  Google Scholar 

  16. P. L. Richard, C. M. Gosselin and X. Kong, Kinematic analysis and prototyping of a partially decoupled 4-DOF 3T1R parallel manipulator, Journal of Mechanical Design, Transactions of the ASME, 129 (6) (2007) 611–616.

    Article  Google Scholar 

  17. S. Briot and I. A. Bonev, Pantopteron-4: A new 3T1R decoupled parallel manipulator for pick-and-place applications, Mechanism and Machine Theory, 45 (5) (2010) 707–721.

    Article  MATH  Google Scholar 

  18. C. Kossowski and L. Notash, CAT4 (cable actuated truss-4 degrees of freedom): A novel 4 DOF cable actuated parallel manipulator, Journal of Robotic Systems, 19 (12) (2002) 605–615.

    Article  MATH  Google Scholar 

  19. Y. Lu, Y. Shi and J. P. Yu, Determination of singularities of some 4-DOF parallel manipulators by translational/rota-tional Jacobian matrices, Robotica, 28 (6) (2010) 811–819.

    Article  Google Scholar 

  20. Y. Lu, B. Hu and J. Yu, Analysis of stiffness and elastic deformation for a four-degree-of-freedom 4SPS+SP parallel manipulator with a SP passive constrained leg, Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multibody Dynamics, 223 (1) (2009) 73–81.

    Article  Google Scholar 

  21. Y. Lu, M. Zhang, Y. Shi and J. P. Yu, Kinematics and statics analysis of a novel 4-dof 2SPS+2SPR parallel manipulator and solving its workspace, Robotica, 27 (5) (2009) 771–778.

    Article  Google Scholar 

  22. Y. Lu, J. Yu, N. Ye, Y. Lu, Z. Dai and Y. Liu, A 4-DOF 4RPR+2R type parallel manipulator, Chinese Patten ZL 201410620575.3 (2016).

    Google Scholar 

Download references

Author information

Authors and Affiliations

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

    Yi Lu, Yang Liu, Nijia Ye & Bo Hu

  2. Harbin Electric Corporation (Qinhuangdao) Heavy Equipment Company Limited, Qinhuangdao, Hebei, 066004, China

    Yang Lu

Authors
  1. Yi Lu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yang Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Yang Lu
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Nijia Ye
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Bo Hu
    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 Hugo Rodrigue

Yi Lu (corresponding author) got his B.S. and M.S. (Engineering) degrees at Northeast Heavy Machinery Institute in Qiqihar, China, and Dr. Sc. Tech. degree 1997 at University of Oulu, Finland. Complete post-doctor research in 2000. Dr. Yi Lu has been Professor of College of Mechanical Engineering since 1998, a supervisor of candidate of doctor since 2004 at Yanshan University in Qinhuangdao, P. R. China. He has published more than 190 papers.

Yang Liu is Ph.D. at College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, PR China.

Yang Lu, Engineer of Harbin Electric Corporation (Qinhuangdao) Heavy Equipment Company Limited, got his B.S. (Engineering) degree at College of Mechanical Engineering, Yanshan University.

Nijia Ye is candidate of Ph.D. at College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, PR China.

Bo Hu, Associated Professor, got his Ph.D. at College of Mechanical Engineering, Yanshan University, Qinhuangdao, PR China, in 2010.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Lu, Y., Liu, Y., Lu, Y. et al. Dynamics analysis and workspace of a novel 4-DoF parallel manipulator with multi-couple constrained wrenches. J Mech Sci Technol 32, 3857–3867 (2018). https://doi.org/10.1007/s12206-018-0738-z

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12206-018-0738-z

Keywords

Search

Navigation