Skip to main content
SpringerLink
Log in

Singularity analysis and workspace optimization of a novel symmetrical 4-limb 5-DOF hybrid robot

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

Abstract

Considering the complex structure and large size of multiple axes rotary spindle heads and the small workspace of parallel modules, a 5-degree of freedom (DOF) hybrid robot is proposed, which is a symmetrical 4-limb parallel module in series with a single axis rotary spindle head. Screw theory was used to analyze the mobility and kinematics of the hybrid mechanism. The singularity of the symmetrical 4-limb parallel module was studied, and the analysis results were verified by the Grassmann linear geometry principle. According to the singularity analysis results, the kinematic pairs’ positions of the robot were determined, so the hybrid robot model was constructed. Considering the workspace volume, and optimizing the Latin hypercube sample algorithm, a combinatorial numerical optimization algorithm is proposed to optimize dimension parameters of this hybrid robot, which combines non-linear programming by quadratic Lagrangian (NLPQL) algorithm with the optimized Latin hypercube sampling (Opt LHS) algorithm. Through this optimization algorithm, the workspace volume of the robot is increased by 1.93 times. The research method in this paper is also suitable for the analysis and optimization of other hybrid robots.

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. A. Karlo, Secrets of 5-axis Machining, Industrial Press Inc., New York (2008).

    Google Scholar 

  2. Y. D. Patel and P. M. George, Parallel manipulators applications—a survey, Modern Mechanical Engineering, 2 (3) (2012) 57.

    Article  Google Scholar 

  3. Z. Pandilov and V. Dukovski, Parallel kinematics machine tools: overview–from history to the future annals of faculty engineering hunedoara, International J. of Engineering, 10 (2) (2012) 111–124.

    Google Scholar 

  4. V. Poppeova, J. Uricek and V. Bulej, Trends in the area of multitasking machine tools, DAAM International Scientific Book (2011) 227–242.

  5. K. E. Neumann, Tricept application, Proceedings-3rd Chemnitz Parallel Kinematics Seminar, Zwickau, Germany (2002) 547–551.

  6. B. Siciliano, The Tricept robot: Inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm, Robotica, 17 (4) (1999) 437–445.

    Article  Google Scholar 

  7. D. Zhang and C. M. Gosselin, Kinetostatic analysis and design optimization of the tricept machine tool family, J. of Manufacturing Science and Engineering, 124 (3) (2002) 725–733.

    Article  Google Scholar 

  8. K. E. Neumann, The key to aerospace automation, SAE Aerospace Manufacturing and Automated Fastening Conference and Exhibition, Detroit, USA (2006) Paper No. 2006-01-3144.

  9. Z. M. Bi and J. Yan, Kinematic modeling of Exechon parallel kinematic machine, Robotics and Computer-Integrated Manufacturing, 27 (1) (2011) 186–193.

    Article  Google Scholar 

  10. M. Zoppi, Z. Dimiter and M. Rezia, Kinematics analysis of the Exechon tripod, ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, American Society of Mechanical Engineers (2010).

  11. T. Huang et al., A 5-DOF Hybrid Robot, Patent Cooperation Treaty, Int. Appl. PCT/CN2004/000479, May 14 (2004).

  12. T. Huang, M. Li, X. M. Zhao, J. P. Mei, D. G. Chetwynd and S. J. Hu, Conceptual design and dimensional synthesis for a 3-DOF module of the TriVariant-a novel 5-DOF reconfigurable hybrid robot, IEEE Transactions on Robotics, 21 (3) (2005) 449–456, doi: https://doi.org/10.1109/TRO.2004.840908.

    Article  Google Scholar 

  13. T. Huang, C. Dong, H. Liu, X. Qin, J. Mei, Q. Liu and M. Wang, Five-Degree-of-Freedom Parallel Robot with Multi-Shaft Rotary Brackets, WO/2017/005015 A1, WIPO (2017).

  14. C. Dong, H. Liu, Q. Liu, T. Sun, T. Huang and D. G. Chetwynd, An approach for type synthesis of overconstrained 1T2R parallel mechanisms, Computational Kinematics, Cham, Springer (2018) 274–281.

    Google Scholar 

  15. X.-J. Liu, L.-P. Wang, F. Xie and I. A. Bonev, Design of a 3-axis articulated tool head with parallel kinematics achieving desired motion/force transmission characteristics, J. of Manufacturing Science and Engineering, 132 (2) (2010).

  16. T. Huang and H. Liu, A Parallel Mechanism with One Translation and Two Rotations, CN1843709 (2006) (in Chinese).

  17. Y. Ni et al., Accuracy analysis and design of A3 parallel spindle head, Chinese J. of Mechanical Engineering, 29 (2) (2016) 239–249.

    Article  Google Scholar 

  18. S. Shayya, S. Krut, O. Company, C. Baradat and F. Pierrot, A novel (3T-1R) redundant parallel mechanism with large operational workspace and rotational capability, International Conference on Intelligent Robots and Systems, Tokyo, Japan, November 3–7 (2013) 436–443, DOI https://doi.org/10.1109/IROS.2013.6696388.

  19. S. Shayya, S. Krut, O. Company, C. Baradat and F. Pierrot, A novel 4 DoFs (3T-1R) parallel manipulator with actuation redundancy - workspace analysis, Proceeding of the Second Conference MeTrApp, Springer Science+Business Media, Dordrecht (2014) 317–324.

    Google Scholar 

  20. O. Stepanenko, I. Bonev and D. Zlatanov, A new 4-DOF fullyparallel robot with decoupled rotation for 5-axis micromachining applications, J. of Mechanisms and Robotics, 11 (3) (2019).

  21. X. Tian, T. Zhao and E. Li, A novel 5-DOF hybrid robot without singularity configurations, H. Yu, J. Liu, L. Liu, Z. Ju, Y. Liu and D. Zhou (eds), Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science, Springer, Cham, 11742 (2019).

    Google Scholar 

  22. L. Xu, X. Chai, Q. Li, L. Zhang and W. Ye, Design and experimental investigation of a new 2R1T overconstrained parallel kinematic machine with actuation redundancy, ASME. J. Mechanisms Robotics, 11 (3) (2019) 031016.

    Article  Google Scholar 

  23. Z. Chong, F. Xie, X.-J. Liu, J. Wang and H. Niu, Design of the parallel mechanism for a hybrid mobile robot in wind turbine blades polishing, Robotics and Computer-Integrated Manufacturing, 61 (2020).

  24. X. Tian, T. Zhao, Y. Sheng, X. Peng and E. Li, Modeling and prototype of a machining robot with R(3-RUHR)/UURP hybrid module, ASME. J. Mechanisms Robotics, 15 (1) (2023) 011007.

    Article  Google Scholar 

  25. H. Ye, D. Wang, J. Wu, Y. Yue and Y. Zhou, Forward and inverse kinematics of a 5-DOF hybrid robot for composite material machining, Robotics Comput. Integr. Manuf., 65 (2020) 101961.

    Article  Google Scholar 

  26. T. Tang, H. Fang and J. Zhang, Hierarchical design, laboratory prototype fabrication and machining tests of a novel 5-axis hybrid serial-parallel kinematic machine tool, Robotics Comput. Integr. Manuf., 64 (2020) 101944.

    Article  Google Scholar 

  27. G. Chen, B. Jin and Y. Chen, Nonsingular fast terminal sliding mode posture control for six-legged walking robots with redundant actuation, Mechatronics, 50 (2018) 1–15.

    Article  Google Scholar 

  28. G. Chen, B. Jin and Y. Chen, Accurate and robust body position trajectory tracking of six-legged walking robots with nonsingular terminal sliding mode control method, Applied Mathematical Modelling, 77 (2019) 1348–1372.

    Article  MathSciNet  MATH  Google Scholar 

  29. H. Zhen, Q. Li and H. Ding, Theory of Parallel Mechanisms, Springer Science+Business (2012).

  30. K. Schittkowski, NLPQLP: A Fortran Implementation of a Sequential Quadratic Programming Algorithm with Distributed and Non-Monotone Line Search-User’s Guide, Department of Computer Science, University of Bayreuth (2014).

Download references

Acknowledgments

This work is supported by the National Natural Science Foundation of China (NSFC) (Grant no. 51875496), and Science and Technology Planning Project of Hebei Province, China (Grant no. 21371901D).

Author information

Authors and Affiliations

  1. Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei, 066004, China

    Xin Tian, Tieshi Zhao, XiaoXiao Peng & Erwei Li

  2. Key Laboratory of Advanced Forging and Stamping Technology and Science, Yanshan University, Ministry of Education of China, Qinhuangdao, Hebei, 066004, China

    Xin Tian, Tieshi Zhao, XiaoXiao Peng & Erwei Li

Authors
  1. Xin Tian
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Tieshi Zhao
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. XiaoXiao Peng
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Erwei Li
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Tieshi Zhao.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Tian, X., Zhao, T., Peng, X. et al. Singularity analysis and workspace optimization of a novel symmetrical 4-limb 5-DOF hybrid robot. J Mech Sci Technol 37, 2555–2567 (2023). https://doi.org/10.1007/s12206-023-0431-8

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12206-023-0431-8

Keywords

Search

Navigation