Advertisement

Spherical Parallel Mechanism with Variable Target Point

  • Yukio Takeda
  • Tsuyoshi Ikeda
  • Daisuke Matsuura
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)

Abstract

This paper proposes a position-orientation decoupled parallel mechanism with five degrees of freedom, in which rotational motion of the output link around two axes is controlled by two inputs while translational motion of the target point, the center of rotation of the output link, is controlled by the other three inputs. This mechanism is composed of three connecting chains; one for controlling the position of the target point and two for generating rotational output motion. Conditions of kinematic structures of these chains are discussed and a concrete mechanism is shown. Inverse displacement analysis and Jacobian analysis of this mechanism are carried out to confirm its decoupled feature without encountering the singular point.

Keywords

Kinematics  Spherical parallel mechanism  Structural synthesis  Position-orientation decoupled mechanism  Displacement analysis  Singularities  

References

  1. 1.
    Fang, Y., Tsai, L.W.: Structure synthesis of a class of 3-dof rotational parallel manipulators. IEEE Trans. Rob. Autom. 20(1), 117 (2004)Google Scholar
  2. 2.
    Geng, Z.J., Haynes, L.: A “3-2-1” kinematic configuration of a stewart platform and its application to six degrees of freedom pose measurements. Robot. Comput. Integr. Manuf. 11(1), 23 (1994)CrossRefGoogle Scholar
  3. 3.
    Gosselin, C.M., Angeles, J.: The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator. Trans. ASME J. Mech. Transm. Autom. Design 111(2), 202 (1989)CrossRefGoogle Scholar
  4. 4.
    Innocenti, C., Parenti-Castelli, V.: Direct kinematics of the 6–4 fully parallel manipulator with position and orientation uncoupled. In: European Robotics and Intelligent Systems Conference, pp. 3 (1991)Google Scholar
  5. 5.
    Jin, Y., Chen, I.M., Yang, G.: Kinematic design of a 6-dof parallel manipulator with decoupled translation and rotation. IEEE Trans. Rob. 22(3), 545 (2006)Google Scholar
  6. 6.
    Karger, A.: Classification of robot-manipulators with only singular configurations. Mech. Mach. Theory 30(5), 727 (1995)CrossRefGoogle Scholar
  7. 7.
    Kim, D., Chung, W.K.: Kinematic condition analysis of three-dof pure translational parallel manipulators. Trans. ASME J. Mech. Design 125(2), 323 (2003)CrossRefGoogle Scholar
  8. 8.
    Kong, X., Gosselin, C.M.: Type synthesis of 3-dof translational parallel manipulators based on screw theory. Trans. ASME J. Mech. Design 126(1), 83 (2004)CrossRefGoogle Scholar
  9. 9.
    Lee, C.C., Herve, J.M.: Parallel mechanisms generating 3-DoF finite translation and (2 or 1)-DoF infinitesimal rotation. Mech. Mach. Theory 51(1), 185 (2012)CrossRefGoogle Scholar
  10. 10.
    Mianovski, K.: Dexterous fully parallel manipulator with six degrees of freedom. In: Proceedings of RoManSy 12, pp. 253 (1998)Google Scholar
  11. 11.
    Okamura, J., Hanagasaki, S., Takeda, Y.: Kinematic synthesis of two-dof rotational parallel mechanism with compensation for position error. In: Proceedings of 2nd IFToMM International Symposium on Robotics and Mechatronics (2011)Google Scholar
  12. 12.
    Ouerfelli, M., Kumar, V.: Optimization of a spherical five-bar parallel drive linkage. Trans. ASME J. Mech. Design 116, 166 (1994)CrossRefGoogle Scholar
  13. 13.
    Patarinski, S., P., Uchiyama, M.: Analysis and design of position/orientation decoupled parallel manipulators. In: Proceedings of RoManSy 10, 219(1995)Google Scholar
  14. 14.
    Refaat, S., Herve, J.M., Nahavandi, S., Trinh, H.: Asymmetrical three-DOFs rotational-translational parallel-kinematics mechanisms based on Lie group theory. Eur. J. Mech. A/Solids 25(3), 550 (2006)CrossRefzbMATHMathSciNetGoogle Scholar
  15. 15.
    Takeda, Y., Funabashi, H., Sasaki, Y.: Development of a spherical in-parallel actuated mechanism with three degrees of freedom with large working space and high motion transmissibility (evaluation of motion transmissibility and analysis of working space). JSME Int. J. Series C 39(3), 541(1996)Google Scholar
  16. 16.
    Takeda, Y., Kamiyama, K., Maki, Y., Higuchi, M., Sugimoto, K.: Development of position-orientation decoupled spatial in-parallel actuated mechanisms with six degrees of freedom. J. Rob. Mechatron. 17(1), 59 (2005)Google Scholar
  17. 17.
    Tanabe, M., Takeda, Y.: Kinematic design of a translational parallel manipulator with fine adjustment of platform orientation. Adv. Mech. Eng. 485358 (2010)Google Scholar
  18. 18.
    Wohlhart, K.: Displacement analysis of the general spherical stewart platform. Mech. Mach. Theory 29(4), 581(1994)Google Scholar
  19. 19.
    Zlatanov, D., Dai, M.Q., Fenton, R.G., Benhabib, B.: Mechanical design and kinematic analysis of a three-legged six degree-of-freedom parallel manipulator. In: Proceedings of 22nd Biennial Mechanisms Conference. DE-45, 529(1992)Google Scholar
  20. 20.
    Zlatanov, D., Gosselin, C.M.: A family of new parallel architectures with four degrees of freedom. In: Proceedings of 2nd Workshop on Computational Kinematics, 57 (2001)Google Scholar

Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  • Yukio Takeda
    • 1
  • Tsuyoshi Ikeda
    • 1
  • Daisuke Matsuura
    • 1
  1. 1.Department of Mechanical Sciences and EngineeringTokyo Institute of TechnologyMeguro-kuJapan

Personalised recommendations