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Kinematic Analysis of a Novel 4-DOF 3T1R Parallel Manipulator

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Intelligent Robotics and Applications (ICIRA 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13016))

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Abstract

A novel four degree-of-freedom (DOF) Parallel Manipulator (PM) with a 2P Pa*PaR configuration is proposed to generate 3-DOF Translational and 1-DOF Rotational (3T1R) motions. This PM consists of a base, two identical limbs and a rigid moving platform, while each limb is driven by a prismatic joint and a revolute joint respectively through an orientation keeping mechanism and a parallelogram. The orientation keeping mechanism is made up of a link, two pulleys, and a belt. The advantages of the PM are symmetric geometry with fewer number of moving parts, simple kinematics with fewer singularity configurations, and infinite extension of translational workspace along its linear guide direction. Based on the 2P Pa*PaR PM, the mobility analysis is conducted by utilizing the screw theory, while a geometrical projection method is proposed to simplify the displacement analysis. A closed-loop vector approach together with variable elimination technique is employed for its velocity analysis, and the kinematic singularity issue is addressed by the rank analysis of Jacobian matrices. Finally, a numerical workspace generation algorithm is implemented for the workspace analysis.

Supported by the Zhejiang Provincial Key Research and Development Plan under Grant 2021C01069; the Ningbo Key Project of Scientific and Technological Innovation 2025 under Grant 2018B10069; and the Ningbo Key Project of Scientific and Technological Innovation 2025 under Grant 2018B10068.

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Author information

Authors and Affiliations

  1. Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, China

    Jie Zhao, Guilin Yang, Dexin Jiang, Tianjiang Zheng, Silu Chen & Chi Zhang

  2. University of Chinese Academy of Sciences, Beijing, 100049, China

    Jie Zhao

  3. Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo, 315201, China

    Jie Zhao, Guilin Yang, Dexin Jiang, Tianjiang Zheng, Silu Chen & Chi Zhang

  4. Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China

    Dexin Jiang & Yingzhong Tian

Authors
  1. Jie Zhao
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  2. Guilin Yang
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  3. Dexin Jiang
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  4. Tianjiang Zheng
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  5. Yingzhong Tian
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  6. Silu Chen
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  7. Chi Zhang
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Corresponding author

Correspondence to Guilin Yang .

Editor information

Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Xin-Jun Liu

  2. Tsinghua University, Beijing, China

    Zhenguo Nie

  3. Beihang University, Beijing, China

    Jingjun Yu

  4. Tsinghua University, Beijing, China

    Fugui Xie

  5. Shandong University, Shandong, China

    Rui Song

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Zhao, J. et al. (2021). Kinematic Analysis of a Novel 4-DOF 3T1R Parallel Manipulator. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_29

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  • DOI: https://doi.org/10.1007/978-3-030-89092-6_29

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89091-9

  • Online ISBN: 978-3-030-89092-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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