Kinematic Analysis and Optimal Design of a Novel Schönflies-Motion Parallel Manipulator With Rotational Pitch Motion for Assembly Operations

Abstract

This paper presents a novel Schönflies-motion Parallel Manipulator with Rotational Pitch motion (SPM-RP) based on a single-platform fully-parallel mechanism. The analysis of position, workspace, velocity, and singularity of the SPM-RP is carried out in detail, and a dimensionless Jacobian is proposed to evaluate the manipulability of the SPM-RP. It is shown that the SPM-RP is kinematically position-decoupled, which possesses a large singularity-free workspace and excellent manipulability. The SPM-RP is actuated by four parallel prismatic actuators, enabling the manipulator to provide identical kinematic performance at all generic cross-sections perpendicular to the prismatic joint axes within its workspace. This paper thus proposes a reduced design optimization formulation, where the traditional optimization over the entire workspace is reduced to one on a representative workspace cross-section of the SPM-RP. The design optimization of the SPM-RP has been carried out by maximizing its manipulability over the total orientation workspace, which is crucial for precision assembly. A SPM-RP prototype has been developed based on the achieved optimal design. The mobility, orientation capability, total orientation workspace, and repeatability are tested and verified for the developed SPM-RP prototype. Experiments show that the SPM-RP achieves a large total orientation workspace with excellent precision performance.

Kinematics of a Schönflies-Motion Generator Parallel Manipulator with Moving Configurable Platform

“…en, vectors c 2 , c 3 , and c 4 are computed by applying (5). Finally, the generalized coordinates q i (i � 1, 2, 3, 4) are computed considering that according to ( 6) and (7) we have that…”

“…Owing to these merits, the fastest commercially available robot today is the Adept Quattro, a four-degree-of-freedom robot able to perform 240 operations per minute replicating the so-called Schön ies motion, after Arthur Moritz Schön ies. A Schön ies-motion generator parallel manipulator is a robot in which the moving platform is able to adopt arbitrary positions endowed by rotations around an axis with a xed direction as observed from the xed platform [1][2][3][4][5]. e original idea of the Schön ies motion produced by the SCARA robot, a serial robot developed at Yamanashi University for assembly tasks, quickly evolved into manipulators with kinematically parallel topologies.…”

Performance evaluation and dimensional optimization design of planar 6R redundant actuation parallel mechanism

“…Performance analysis is a crucial aspect of mechanism design and a key step in achieving scale optimization [8][9]. Building on kinematic analysis, establishing performance evaluation metrics is a prerequisite for optimizing the design of parallel mechanisms [10][11]. These mechanisms primarily employ the mathematical characteristics of Jacobian matrices and motion/force transmission properties to evaluate their kinematic performance.…”

A novel Schönflies-motion generator parallel manipulator with decoupled rotational freedom

“…[14][15][16][17][18] However, the mechanical devices that have had called major interest are those manipulators composed of four limbs. 3,[19][20][21][22][23][24][25][26][27] It is interesting to note that some of these robot manipulators are characterized by four Department of Mechanical Engineering, National Technological Institute of Mexico/Celaya Campus, Celaya, Guanajuato, Mexico extremities composed in turn by parallel kinematic structures simulating pantographs whose virtues are a symmetrical distribution of the motors as well as a mounting of these near to the fixed platform. Furthermore, with the parallelogram-like topology, we dispose of a natural shaking and moment balancing of mechanisms.…”