Skip to main content
SpringerLink
Log in

New Family of RPR-Equivalent Parallel Mechanisms: Design and Application

  • Research Highlight
  • Published:
Chinese Journal of Mechanical Engineering Submit manuscript

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

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6

References

  1. WAHL J. Articulated tool head: US, 6431802[P]. 2002-8-13.

  2. NI Yanbing, ZHANG Biao, SUN Yupeng, et al. Accuracy analysis and design of A3 parallel spindle head[J]. Chinese Journal of Mechanical Engineering, 2016, 29(2): 239–249.

  3. SICILIANO B. The Tricept robot: Inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm[J]. Robotica, 1999, 17(04): 437–445.

  4. ZHAO Yanqin, JIN Yan, ZHANG Jun. Kinetostatic modeling and analysis of an Exechon parallel kinematic machine(PKM) module[J]. Chinese Journal of Mechanical Engineering, 2016, 29(1): 33–44.

  5. LI Q, HERVÉ J M. Type synthesis of 3-DOF RPR-equivalent parallel mechanisms[J]. IEEE Transactions on Robotics, 2014, 30(6): 1333–1343.

  6. LI Qinchuan, CHEN Qiaohong, YU Xufeng, et al. 3-DOF parallel mechanism with two perpendicular and non-intersecting axes of rotation: CN, 201110357878.7[P]. 2011-11-11. (in Chinese).

  7. JIN Y, KONG X, HIGGINS C, et al. Kinematic design of a new parallel kinematic machine for aircraft wing assembly[C]//Proceedings of the IEEE 10th International Conference on Industrial Informatics, Beijing, China, July 25–27, 2012: 669–674.

  8. LI Qinchuan, WU Weifeng, XIANG Jinan, et al. A hybrid robot for friction stir welding[J]. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2015, 229(14): 2639–2650.

  9. HUANG T, LI M, ZHAO X M, et al. Conceptual design and dimensional synthesis for a 3-DOF module of the TriVariant-a novel 5-DOF reconfigurable hybrid robot[J]. IEEE Transactions on Robotics, 2005, 21(3): 449–456.

  10. LIU X, WANG J, PRITSCHOW G. A new family of spatial 3-DoF fully-parallel manipulators with high rotational capability[J]. Mechanism and Machine Theory, 2005, 40(4): 475–494.

  11. XIE Fugui, LI Tiemin, LIU Xinjun. Type synthesis of 4-DOF parallel kinematic mechanisms based on Grassmann line geometry and atlas method[J]. Chinese Journal of Mechanical Engineering, 2013, 26(6): 1073–1081.

  12. LI Y, STAICU S. Inverse dynamics of a 3-PRC parallel kinematic machine[J]. Nonlinear Dynamics, 2012, 67(2): 1031–1041.

  13. XU Lingmin, LI Qinchuan, YE Wei. A 2R1T parallel mechanism with high rotational capability: CN, 201621160907.5[P]. 2016-10-25. (in Chinese).

  14. HERVÉ J M. Analyse structurelle des mécanismes par groupe des déplacements[J]. Mechanism and Machine Theory, 1978, 13(4): 437–450.

  15. LI Q, HUANG Z, HERVÉ J M. Type synthesis of 3R2T 5-DOF parallel mechanisms using the Lie group of displacements[J]. IEEE Transactions on Robotics and Automation, 2004, 20(2): 173–180.

  16. LI Qinchuan, XU Lingmin, YE Wei. A 2R1T parallel mechanism with fixed actuators: CN, 201621253330.2[P]. 2016-11-22. (in Chinese).

  17. LI Qinchuan, XIANG Jinan, CHAI Xinxue, et al. Singularity analysis of a 3-RPS parallel manipulator using geometric algebra[J]. Chinese Journal of Mechanical Engineering, 2015, 28(6): 1204–1212.

  18. LI Shihua, LIU Yanmin, CUI Hongliu, et al. Synthesis of branched chains with actuation redundancy for eliminating interior singularities of 3T1R parallel mechanisms[J]. Chinese Journal of Mechanical Engineering, 2016, 29(2): 250–259.

  19. MERLET J P. Redundant parallel manipulators[J]. Laboratory Robotics and Automation, 1996, 8(1): 17–24.

  20. NOKLEBY S B, FISHER R, PODOHORODESKI R P, et al. Force capabilities of redundantly-actuated parallel manipulators[J]. Mechanism and Machine Theory, 2005, 40(5): 578–599.

Download references

Acknowledgements

The authors would like to acknowledge the financial support of National Natural Science Foundation of China(NSFC) under Grant Nos. 51525504, 51475431, 51275479, and Zhejiang Provincial Natural Science Foundation of China under Grant No. R1090134.

Author information

Authors and Affiliations

  1. Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou, 310018, China

    Qinchuan LI, Lingmin XU & Wei YE

  2. School of Information, Zhejiang Sci-Tech University, Hangzhou, 310018, China

    Qiaohong CHEN

Authors
  1. Qinchuan LI
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Lingmin XU
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Qiaohong CHEN
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Wei YE
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Qinchuan LI.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

LI, Q., XU, L., CHEN, Q. et al. New Family of RPR-Equivalent Parallel Mechanisms: Design and Application. Chin. J. Mech. Eng. 30, 217–221 (2017). https://doi.org/10.1007/s10033-017-0045-0

Download citation

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10033-017-0045-0

Search

Navigation