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Type synthesis and kinematics analysis of parallel manipulators with equivalent composite universal joints

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Abstract

Several novel parallel manipulators (PMs) with equivalent composite universal joints Ue are synthesized and their kinematics is studied systematically in this paper. First, the 12 novel PMs with Ue are synthesized, and their degrees of freedom are calculated. Second, the structure and merits of the composite limb with Ue for constructing the PMs with Ue are analyzed; the unified formulas are derived for solving the sub-Jacobian matrix, the sub-Hessian matrix, the angular velocity and the angular acceleration of the composite limb with Ue. Third, the formulas are derived for solving the Jacobian matrix and output velocity, the Hessian matrix and output acceleration of the moving platforms of the 10 novel PMs with Ue. Finally, a 5-DoF PM with 2Ue in the 12 synthesized PMs with Ue is illustrated for solving the kinematics of the PMs with Ue; its reachable workspace is constructed for representing merits of the PMs with Ue. The theoretical kinematics solutions are verified by the simulation solution of the simulation mechanism of the 5-DoF PM with 2Ue.

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Acknowledgements

The authors would like to acknowledge Major Research Project (91748125) supported by National Natural Science Foundation of China.

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Authors and Affiliations

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

    Yang Lu, Yi Lu, Canguo Zhang & Nijia Ye

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

    Yang Lu

Authors
  1. Yang Lu
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  2. Yi Lu
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  3. Canguo Zhang
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  4. Nijia Ye
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Corresponding author

Correspondence to Yi Lu.

Additional information

Recommended by Associate Editor Hugo Rodrigue

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

Yi Lu (corresponding author) got his B.S. and M.S. (Engineering) degree at Northeast Heavy Machinery Institute in Qiqihar, China, and Dr. Sc. Tech. degree 1997 at University of Oulu, Finland. He completed post-doctor research in 2000. Dr. Yi Lu has been Professor of College of Mechanical Engineering of Yanshan University since 1998, He has published more than 200 papers. luyi@ysu.edu.cn.

Canguo Zhang is a teacher at Mechanical Engineering Department, Hebei University of Architecture, and a Ph.D. student at College of Mechanical Engineering, Yanshan University.

Nijia Ye is a teacher at College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, PR China. She got Ph.D. at Yanshan University in 2019.

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Lu, Y., Lu, Y., Zhang, C. et al. Type synthesis and kinematics analysis of parallel manipulators with equivalent composite universal joints. J Mech Sci Technol 33, 5473–5482 (2019). https://doi.org/10.1007/s12206-019-1041-3

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  • DOI: https://doi.org/10.1007/s12206-019-1041-3

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