Skip to main content
SpringerLink
Log in

Transmission Quality Evaluation for a Class of Four-limb Parallel Schönflies-motion Generators with Articulated Platforms

  • Conference paper
  • First Online:
Book cover Computational Kinematics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 50))

Abstract

This paper investigated the motion/force transmission quality for a class of parallel Schönflies-motion generators built with four identical RR\(\varPi \)RR-type limbs. It turns out that the determinant of the forward Jacobian matrices for this class of parallel robots can be expressed as the scalar product of two vectors, the first vector being the cross product of the four unit vectors along the parallelograms, the second one being related to the rotation of the mobile platform. The pressure angles, derived from the determinants of forward and inverse Jacobians, respectively, are used for the evaluation of the transmission quality of the robots. Four robots are compared based on the proposed method as illustrative examples.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Notes

  1. 1.

    R and \({\Pi }\) stand for revolute joint and parallelogram (\(\varPi \) joint), respectively, and the underlined letter indicates the actuated joint.

References

  1. Adept Quattro Parallel Robots. http://www1.adept.com/main/ke/data/Archived/Quattro/sQua-ttro_UG.pdf

  2. Penta Veloce. http://pentarobotics.com/products/#brochure

  3. Altuzarra, O., Hernandez, A., Salgado, O., Angeles, J.: Multiobjective optimum design of a symmetric parallel Schönflies-motion generator. ASME J. Mech. Des. 131(3), 031002 (2009)

    Article  Google Scholar 

  4. Amine, S., Masouleh, M.T., Caro, S., Wenger, P., Gosselin, C.: Singularity conditions of 3 T1 R parallel manipulators with identical limb structures. ASME J. Mech. Robot. 4(1), 011011 (2012)

    Article  Google Scholar 

  5. Angeles, J.: Is there a characteristic length of a rigid-body displacement? Mech. Mach. Theory 41(8), 884–896 (2006)

    Article  MATH  Google Scholar 

  6. Company, O., Krut, S., Pierrot, F.: Internal singularity analysis of a class of lower mobility parallel manipulators with articulated traveling plate. IEEE Trans. Robot. 22(1), 1–11 (2006)

    Article  Google Scholar 

  7. Kim, S.G., Ryu, J.: New dimensionally homogeneous Jacobian matrix formulation by three end-effector points for optimal design of parallel manipulators. IEEE Trans. Robot. Autom. 19(4), 731–736 (2003)

    Article  Google Scholar 

  8. Merlet, J.P.: Jacobian, manipulability, condition number, and accuracy of parallel robots. ASME J. Mech. Des. 128(1), 199–206 (2006)

    Article  Google Scholar 

  9. Pierrot, F., Company, O.: H4: a new family of 4-dof parallel robots. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 508–513 (1999)

    Google Scholar 

  10. Pierrot, F., Nabat, V., Company, O., Krut, S., Poignet, P.: Optimal design of a 4-dof parallel manipulator: from academia to industry. IEEE Trans. Robot. 25(2), 213–224 (2009)

    Article  Google Scholar 

  11. Wang, J., Wu, C., Liu, X.: Performance evaluation of parallel manipulators: motion/force transmissibility and its index. Mech. Mach. Theory 45(10), 1462–1476 (2010)

    Article  MATH  Google Scholar 

  12. Wu, G.: Kinematic analysis and optimal design of a wall-mounted four-limb parallel Schönflies-motion robot for pick-and-place operations. J. Intell. Robot. Syst 85, 663–667 (2016)

    Article  Google Scholar 

  13. Wu, G., Bai, S., Hjørnet, P.: Architecture optimization of a parallel schönflies-motion robot for pick-and-place applications in a predefined workspace. Mech. Mach. Theory 106, 148–165 (2016)

    Article  Google Scholar 

  14. Xie, F., Liu, X.: Design and development of a high-speed and high-rotation robot with four identical arms and a single platform. ASME J. Mech. Robot. 7(4), 041015 (2015)

    Article  Google Scholar 

Download references

Acknowledgements

The reported work is partly supported by the Fundamental Research Funds for the Central Universities (DUT16RC(3)068) and by Innovation Fund Denmark (137-2014-5).

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Dalian University of Technology, Dalian, 116024, China

    Guanglei Wu

  2. Department of Mechanical and Manufacturing Engineering, Aalborg University, 9220, Aalborg, Denmark

    Shaoping Bai

  3. CNRS, Laboratoire des Sciences du Numérique de Nantes, UMR CNRS 6004, Ecole Centrale de Nantes, 44321, Nantes, France

    Stéphane Caro

Authors
  1. Guanglei Wu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Shaoping Bai
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Stéphane Caro
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Guanglei Wu .

Editor information

Editors and Affiliations

  1. Institut PPRIME, UPR 3346, University of Poitiers, Poitiers, France

    Saïd Zeghloul

  2. American University of Sharjah, UAE, on leave from the National School of Engineering of Sousse , Sousse Erriadh, Tunisia

    Lotfi Romdhane

  3. SP2MI, Téléport 2, University of Poitiers, Poitiers, France

    Med Amine Laribi

Rights and permissions

Reprints and permissions

Copyright information

© 2018 Springer International Publishing AG

About this paper

Cite this paper

Wu, G., Bai, S., Caro, S. (2018). Transmission Quality Evaluation for a Class of Four-limb Parallel Schönflies-motion Generators with Articulated Platforms. In: Zeghloul, S., Romdhane, L., Laribi, M. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 50. Springer, Cham. https://doi.org/10.1007/978-3-319-60867-9_32

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-60867-9_32

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-60866-2

  • Online ISBN: 978-3-319-60867-9

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation