Advertisement

Design, analysis and fabrication of a novel three degrees of freedom parallel robotic manipulator with decoupled motions

  • Dan Zhang
  • Xiaoping Su
  • Zhen Gao
  • Jijie Qian
Article

Abstract

Most of the existing parallel robotic manipulators have coupled motion between the position and orientation of the end-effector. The complexity of the multi-axial manipulation produces the difficulty to control. This research deals with a lower mobility parallel manipulator with fully decoupled motions. The proposed parallel manipulator has three degrees of freedom and can be utilized for parts assembly and light machining tasks that require large workspace, high dexterity, high loading capacity, and considerable stiffness. The manipulator consists of a moving platform that is connected to a fixed base by three pairwise orthogonal legs which are comprised of one cylinder, one revolute and one universal joint respectively. The mobility of the manipulator and structure of the inactive joint are analyzed. Kinematics of the manipulator including inverse and forward kinematics, velocity equation, kinematic singularities, and stiffness are studied. The workspace of the parallel manipulator is examined. A design optimization is conducted with the prescribed workspace. It has been found that due to the special arrangement of the legs and joints, this parallel manipulator possesses fully isotropic. This advantage has great potential for machine tools and coordinate measuring machine. The experiment on the prototype verifies its feasibility as a portable parallel robotic machine tool.

Keywords

Parallel manipulator Decoupled motion Kinematic modeling Workspace optimization Dynamics simulation Prototype fabrication 

Notes

Acknowledgments

The authors would like to thank the financial support from the Natural Sciences and Engineering Research Council of Canada (NSERC).

References

  1. Arsenault, M., Gosselin, C.M.: Kinematic, static and dynamic analysis of a planar 2-DOF tensegrity mechanism. Mech. Mach. Theory 41, 1072–1089 (2006)MathSciNetMATHCrossRefGoogle Scholar
  2. Bi, Z.M., Lang, S.Y.T., Zhang, D., Orban, P.E., Verner, M.: An integrated design toolbox for tripod-based parallel kinematic machines. J. Mech. Des. 129, 799–807 (2007)CrossRefGoogle Scholar
  3. Bouzgarrou, B.C., Fauroux, J., Gogu, G., Heerah, Y.: Rrigidity analysis or T3R1 parallel robot uncoupled kinematics. In: Proceedings of the 35th International Symposium on Robotics, Paris (2002)Google Scholar
  4. Chanal, H., Bouzgarrou, B.C., Ray, P.: Stiffness computation and identification of parallel kinematic machine tools. J. Manuf. Sci. Eng. 131, 041013 (2009). doi: 10.1115/1.3160328 CrossRefGoogle Scholar
  5. Company, O., Pierrot, F.: Modeling and design issues of a 3-axis parallel machine-tool. Mech. Mach. Theory 37, 1325–1345 (2002)MATHCrossRefGoogle Scholar
  6. Dong, W., Sun, L.N., Du, Z.J.: Design of a precision compliant parallel positioner driven by dual piezoelectric actuators. Sens. Actuators A 135, 250–256 (2007)CrossRefGoogle Scholar
  7. Fang, S.Q., Franitza, D., Torlo, M., Bekes, F., Hiller, M.: Motion control of a tendon-based parallel manipulator using optimal tension distribution. IEEE/ASME Trans. Mech. 9, 561–568 (2004)CrossRefGoogle Scholar
  8. Firmani, F., Podhorodeski, R.P.: Singularity analysis of planar parallel manipulators based on forward kinematic solutions. Mech. Mach. Theory 44, 1386–1399 (2009)MATHCrossRefGoogle Scholar
  9. Gosselin, C.M.: Stiffness mapping for parallel manipulators. IEEE Trans. Robot. Autom. 6, 377–382 (1990)CrossRefGoogle Scholar
  10. Gosselin, C.M., Zhang, D.: Stiffness analysis of parallel mechanisms using a lumped model. Int. J. Robot. Autom. 17, 17–27 (2002)Google Scholar
  11. He, G.P., Lu, Z.: The research on the redundant actuated parallel robot with full compliant mechanism. In: ASME Conference Proceeding of MNC, Sanya (2007)Google Scholar
  12. Kong, X.W., Gosselin, C.: A class of 3-DOF translational parallel manipulators with linear input–output equations. In: Proceedings of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec City (2002)Google Scholar
  13. Laribi, M.A., Romdhane, L., Zeghloul, S.: Analysis and dimensional synthesis of the DELTA robot for a prescribed workspace. Mech. Mach. Theory 42, 859–870 (2007)MATHCrossRefGoogle Scholar
  14. Lessard, S., Bigras, P., Bonev, I.A.: A new medical parallel robot and its static balancing optimization. J. Med. Devices 273, 272–278 (2007)CrossRefGoogle Scholar
  15. Li, Y.M., Xu, Q.S.: A novel design and analysis of a 2-DOF compliant parallel micromanipulator for nanomanipulation. IEEE Trans. Autom. Sci. Eng. 3, 248–253 (2006)Google Scholar
  16. Majou, F., Gosselin, C., Wenger, P., Chablat, D.: Parametric stiffness analysis of the orthoglide. Mech. Mach. Theory 42, 296–311 (2007)MATHCrossRefGoogle Scholar
  17. Merlet, J.P.: Parallel Robots, 2nd edn. Springer, Dordrecht (2006)MATHGoogle Scholar
  18. Mitchell, J.H., Jacob, R., Mika, N.: Optimization of a spherical mechanism for a minimally invasive surgical robot: theoretical and experimental approaches. IEEE/ASME Trans. Biomed. Eng. 53, 1440–1445 (2006)CrossRefGoogle Scholar
  19. Moon, Y.M.: Bio-mimetic design of finger mechanism with contact aided compliant mechanism. Mech. Mach. Theory 42, 600–611 (2007)MATHCrossRefGoogle Scholar
  20. Ottaviano, E., Ceccarelli, M., Castelli, G.: Experimental results of a 3-DOF parallel manipulator as an earthquake motion simulator. In: ASME Conference Proceedings of IDETC/CIE, Salt Lake City (2004)Google Scholar
  21. Palmer, J.A., Dessent, B., Mulling, J.F., Usher, T., Grant, E., Eischen, J.W., Kingon, A.I., Franzon, P.D.: The design and characterization of a novel piezoelectric transducer-based linear motor. IEEE/ASME Trans. Mech. 13, 441–450 (2008)CrossRefGoogle Scholar
  22. Tlusty, J.Z., Ridgeway, S.: Fundamental comparison of the use of serial and parallel kinematics for machine tools. Ann. CIRP 48, 351–356 (1999)CrossRefGoogle Scholar
  23. Tsai, L.W.: Robot Analysis: The Mechanics of Serial and Parallel Manipulators. Wiley, New York (1999)Google Scholar
  24. Ukidve, C.S., McInroy, J.E., Jafari, F.: Using redundancy to optimize manipulability of Stewart platforms. IEEE/ASME Trans. Mech. 13, 475–479 (2008)CrossRefGoogle Scholar
  25. Wang, L.H., Nace, A.: A sensor-driven approach to web-based machining. J. Intell. Manuf. 20, 1–14 (2009)CrossRefGoogle Scholar
  26. Wang, G.L., Wang, Y.Q., Zhao, J., Chen, G.L.: Process optimization of the serial–parallel hybrid polishing machine tool based on artificial neural network and genetic algorithm. J. Intell. Manuf. 21, 1–18 (2010)CrossRefGoogle Scholar
  27. Yang, Y.W., Obrien, J.F.: A sequential method for the singularity-free workspace design of a three legged parallel robot. Mech. Mach. Theory 45, 1694–1706 (2010)MATHCrossRefGoogle Scholar
  28. Zhang, D.: Parallel Robotic Machine Tools. Springer, New York (2009)Google Scholar
  29. Zhang, D., Wang, L.: Conceptual development of an enhanced tripod mechanism for machine tool. Robot. Comput. Integr. Manuf. 21, 318–327 (2002)CrossRefGoogle Scholar
  30. Zhang, D., Gao, Z., Song, B., Ge, Y.J.: Configuration design and performance analysis of a multidimensional acceleration sensor based on 3RRPRR decoupling parallel mechanism. In: Proceedings on IEEE International Conference on Decision Control, Guilin (2009a)Google Scholar
  31. Zhang, D., Bi, Z., Li, B.: Design and kinetostatic analysis of a new parallel manipulator. Robot. Comput. Integr. Manuf. 25, 782–791 (2009b)CrossRefGoogle Scholar
  32. Zlatanov, D., Bonev, I., Gosselin, C.M.: Constraint singularities of parallel mechanism. In: Proceedings on IEEE International Conference of Robotics and Automation, Washington DC (2002)Google Scholar

Copyright information

© Springer Science+Business Media Dordrecht 2012

Authors and Affiliations

  1. 1.Institute of Technology, University of OntarioOshawaCanada
  2. 2.School of Mechanical and Power EngineeringNanjing University of TechnologyNanjingChina
  3. 3.Robotics and Automation LaboratoryInstitute of Technology, University of OntarioOshawaCanada

Personalised recommendations