A new family of generalized parallel manipulators with configurable moving platforms

Tian, Chunxu; Zhang, Dan

doi:10.1016/j.mechmachtheory.2020.103997

Cited by 19 publications

(3 citation statements)

References 26 publications

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“…The parallel mechanisms can reach ±180 • . Some scholars [18][19][20][21][22][23] also studied parallel mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Type synthesis and trajectory planning of 5-DOF redundantly actuated parallel robots with large output rotational angles for large workpieces

Jiang,

Huang,

Zhu

et al. 2023

Robotica

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Aerospace represents the development of national science and technology. It is an important foundation for exploring space and an important guarantee for the construction of aerospace power. There are many large workpieces in the aerospace field. The box insulation layer of large workpieces is an important processing problem. A new thick processing equipment is proposed to process the box insulation layer of large workpieces. The thick processing equipment consists of the XYZ shaft long guide rail and five degrees of freedom (5-DOF) RAPA. The mechanical structure of the 5-DOF RAPA is a redundantly actuated parallel mechanism (RAPM). Meanwhile, this paper proposes a new method to design 5-DOF redundantly actuated parallel mechanisms (RAPMs) with large output rotational angles. Based on configuration evolution and Li group, two articulated moving platforms (AMPs) and four kinds of limbs are designed, and a series of 3T2R (T represents translation, R represents rotation) RAPMs and 2T3R RAPMs are synthesized. To verify the designed RAPMs with large angle, an example of RAPMs, 4UPS-{2UPR}-R is analyzed. To ensure that the RAPM has no mechanism vibration impact in movement, this paper represents the RAPM adopts a newly proposed trajectory planning method. The results show that the 4SPU-(2UPR)R mechanism possesses large angles and verifies the efficiency of the new proposed trajectory planning method in simplified trajectories. This work lays the foundation for processing the box insulation layer of large workpieces with straight lines and arcs paths.

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“…The parallel mechanisms can reach ±180 • . Some scholars [18][19][20][21][22][23] also studied parallel mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Type synthesis and trajectory planning of 5-DOF redundantly actuated parallel robots with large output rotational angles for large workpieces

Jiang,

Huang,

Zhu

et al. 2023

Robotica

View full text Add to dashboard Cite

show abstract

“…In [10], it was shown that a kinematotropic linkage can also be used as the EE of a PRCP. More recently, a systematic design approach was presented in [11] for the development of PRCPs with 4-to 6-DoFs having one internal DoF in the EE; also, a general synthesis method for PRCPs (some of which have closed-loop EEs) was presented in [12].…”

Section: Introductionmentioning

confidence: 99%

Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector

et al. 2021

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Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in their motion and control with respect to rigid-platform parallel architectures, but their kinematics is more challenging to analyze. In our work, we consider n-RRR planar configurable robots, in which the end-effector is a chain composed of n links and revolute joints, and is controlled by n rotary actuators located on the base of the mechanism. In particular, we study the geometrical design of such robots and their direct and inverse kinematics for n=4, n=5 and n=6; we employ the bilateration method, which can simplify the kinematic analysis and allows us to generalize the approach and the results obtained for the 3-RRR mechanism to n-RRR robots (with n>3). Then, we study the singularity configurations of these robot architectures. Finally, we present the results from experimental tests that have been performed on a 5–RRR robot prototype.

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“…Isaksson et al [13] harvested the motion in the additional DOF to operate a gripper and enlarge the rotational workspace. Wen et al [14] designed a kinematically redundant (6 + 3) DOFs hybrid parallel robot with a large orientational workspace and a remotely operated gripper. Tian and Zhang [15] proposed a novel class of parallel manipulators with configurable platforms.…”

Section: Introductionmentioning

confidence: 99%

Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable moving platform

Wang

Fang

2021

Front. Mech. Eng.

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Generalized parallel mechanisms with a configurable moving platform have become popular in the research field of parallel mechanism. This type of gripper mechanism can be applied to grasp large or heavy objects in different environments that are dangerous and complex for humans. This study proposes a family of novel (5 + 1) degrees of freedom (three translations and two rotations plus an additional grasping motion) gripper mechanisms based on the generalized parallel mechanisms with a configurable moving platform. First, the configurable moving platform, which is a closed loop, is designed for grasping manipulation. The hybrid topological arrangement is determined to improve the stiffness of the manipulator and realize high load-to-weight ratios. A sufficient rule based on Lie group theory is proposed to synthesize the mechanism. The hybrid limb structure is also enumerated. A family of novel gripper mechanisms can be assembled through the hybrid limbs by satisfying the rule. Two examples of the gripper mechanisms with and without parallelogram pairs are shown in this study. A kinematic analysis of the example mechanism is presented. The workspace shows that the mechanism possesses high rotational capability. In addition, a stiffness analysis is performed.

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A new family of generalized parallel manipulators with configurable moving platforms

Cited by 19 publications

References 26 publications

Type synthesis and trajectory planning of 5-DOF redundantly actuated parallel robots with large output rotational angles for large workpieces

Type synthesis and trajectory planning of 5-DOF redundantly actuated parallel robots with large output rotational angles for large workpieces

Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector

Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable moving platform

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