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Kinematic performance analysis and promotion of a spatial 3-RPaS parallel manipulator with multiple actuation modes

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Abstract

This paper presents a 3-RPaS (R and S denote the revolute and spherical joint, pa denotes the parallelogram) parallel manipulator with two-rotational-degrees-of-freedom (2R1T) and one-translational-degree-of-freedom motion. By introducing parallelograms and an innovative driving module, the 3-RPaS manipulator can change the transmission path of the driving and reaction forces, and achieves 27 actuation modes. The kinematic performance of the manipulator under different actuation modes is analyzed with the indices that are defined based on matrix orthogonal degree. Comparative analysis indicates that the kinematic performance of the manipulator varies significantly in different actuation modes. A reasonable selection of actuation modes can effectively improve the kinematic performance and eliminate singularities. The concept of optimal actuation mode and the implementation approach of actuation mode conversion are discussed and analyzed for kinematics promotion. The kinematic performance of the manipulator is greatly improved with optimal actuation modes, without changing the topology structure and dimensional parameters.

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Author information

Authors and Affiliations

  1. Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Tsinghua University, Beijing, 100084, China

    Liping Wang, Zhaokun Zhang & Zhufeng Shao

  2. State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Liping Wang, Zhaokun Zhang & Zhufeng Shao

Authors
  1. Liping Wang
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  2. Zhaokun Zhang
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  3. Zhufeng Shao
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Corresponding author

Correspondence to Zhufeng Shao.

Additional information

Recommended by Associate Editor Baek-kyu Cho

Liping Wang received his Ph.D. degree in Mechanical Engineering from Jilin University of Technology, China, in 1997. He is currently a Professor of Tsinghua University, China. His research interests include advanced manufacturing equipment and its control, mechanism theory and control of parallel robots.

Zhaokun Zhang received his bachelor’s degree in Mechanical Engineering from Huazhong University of Science and Technology, China, in 2015. He is currently a Ph.D. candidate at Tsinghua University, China. His research interests include intelligent manufacturing, parallel robots, and cable-driven parallel robots.

Zhufeng Shao received his bachelor’s degree from Shandong University, China, in 2006 and Ph.D. degree in Mechanical Engineering from Tsinghua University, China, in 2011. He is currently an Associate Professor of Tsinghua University. His research interests include advanced manufacturing equipment and its control, rigid-flexible coupling system, and cable robots.

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Wang, L., Zhang, Z. & Shao, Z. Kinematic performance analysis and promotion of a spatial 3-RPaS parallel manipulator with multiple actuation modes. J Mech Sci Technol 33, 889–902 (2019). https://doi.org/10.1007/s12206-019-0146-z

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  • DOI: https://doi.org/10.1007/s12206-019-0146-z

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