Analysis and Design of a Reconfigurable 3-DoF Parallel Manipulator for Multimodal Tasks

Abstract

This paper presents the design of a reconfigurable 3-DoF parallel kinematics manipulator. The main feature of the device is the ability to change the mobility of its moving platform from pure translation to pure rotation. The manipulator kinematics is conceived so that, when a particular configuration of the manipulator is reached, the transition between the two working modes is possible by changing the configuration of a metamorphic universal joint, which is used to connect the legs of the manipulator with the moving platform. The mechanical design of the joint, which is in fact a lockable spherical joint, is illustrated. With the joint integrated into the robot architecture, an instantaneous overconstrained kinematics is exploited to manage the phase of reconfiguration of the whole mechatronic device. A kineto-static analysis provides information about the influence of geometric parameters on its functional design. The manipulator shows simple kinematics and statics models, as well as good kinematic and static performances. Eventually, the versatility of the manipulator is shown by proposing some advanced manufacturing applications in which it could find use

Synchronization Error-based Control Approach for an Industrial High-speed Parallel Robot

“…이러한 병렬로봇을 고속/고정밀 작업에 사용하기 위해서는 로봇 메커니즘의 설계와 로봇 제어기의 설계 두 가지 측면이 모두 중요하다. 병렬로봇의 메커니즘 설계와 제어 방법에 관하여 다양한 연구가 이루어져 왔는데, 메커니즘 설계 측면에서는 다양한 기구 메커니즘의 설계에 관한 연구가 이루어 져 왔고 [3][4][5] , 제어 측면에서는 축별 독립 제어 방법을 포함하여 평면 병렬 기구의 동기화 제어 방법 등에 관한 연구가 이루어져 왔다 [6][7][8][9][10][11] . 같다.…”

Numerical Optimal Control of a Spherical Parallel Manipulator Based on Unique Kinematic Solutions

“…[6]- [20], [25], [42]. In order to help the reader understand the contributions of this paper, a brief summary of the 3-DOF RRR SPM kinematics is introduced in the remainder of this section.…”

“…Many approaches have been considered to analyze different SPM systems [6]- [20]. In [6] it is shown that the forward kinematic problem of a general 3-DOF RRR SPM leads to a polynomial with at most eight solutions, corresponding to different poses of the manipulator top mobile platform, for a given set of control inputs.…”

QrPara: A New Reconfigurable Parallel Manipulator with 5-Axis Capability

“…RPMs have recently become the research focus in the robotics community due to their great flexibility and cost effectiveness. For achieving the reconfigurability, there are mainly four types of methods in the literature: modular method by reconstructing standard joint/link modules into varied architectures [5,6], constraint based multi-mode method which switching operation modes via constraint singular configurations [7,8,9], metamorphic joints/links whose joint/link geometrical relations can be changed [10,11,12], and lockable joints by alternatively locking different set of lockable joints [13,14,15].…”

“…Bi and Kang [19] introduced the concept of adjustable platform for enhanced adaptability of reconfigurable parallel kinematic machines. Palpacelli et al [9] analyzed and designed a 3-DOF reconfigurable parallel manipulator which can perform two operation modes, i.e., pure translation and pure rotation by changing the configuration of a lockable spherical joint. Moosavian and Xi [14] utilize lockable passive joints to design reconfigurable parallel manipulators for enhanced static and stiffness properties.…”