On the kinematics of a new parallel mechanism with Schoenflies motion

Abstract

SUMMARYThis paper investigates the kinematics of one new isoconstrained parallel manipulator with Schoenflies motion. This new manipulator has four degrees of freedom and two identical limbs, each having the topology of Cylindrical–Revolute–Prismatic–Helical (C–R–P–H). The kinematic equations are derived in closed-form using matrix algebra. The Jacobian matrix is then established and the singularities of the robot are investigated. The reachable workspaces and condition number of the manipulator are further studied. From the kinematic analysis, it can be shown that the manipulator is simple not only for its construction but also for its control. It is hoped that the results of the evaluation of the two-limb parallel mechanism can be useful for possible applications in industry where a pick-and-place motion is required.

Design of an Apple-Picking End Effector

“…The workspace of the end effector is solved by the Monte Carlo method [18] and [19]. The relationship between the fingertip of the end effector and the base coordinate is 0 T 3 = A 1 × A 2 × A 3 .…”

Elastodynamics of a parallel Schönflies-motion generator

“…Compared with four-limb SMGs, two-limb SMGs have smaller footprint and virtually unlimited rotational displacement of the MP, but their stiffness is reduced (Gauthier et al 2009). Two-limb isoconstrained architectures have many advantages, such as more compact envelope, ease of control and low sensitivity to manufacturing errors (Lee and Lee 2016). Mechanical isotopy 2 improves the robustness of kinetostatic, elastostatic and elastodynamic performance (Al-Widyan and Angeles 2004).…”

Position analysis, singularity loci and workspace of a novel 2PRPU Schoenflies-motion generator

“…[4][5][6]8,11 ), and one actuator per limb located on the base. Nevertheless, two-limbed symmetric (i.e., single-loop) architectures with serial 3,26,30 or hybrid 7,10 limbs have been proposed, too. Other parallel SMGs are simply obtained by adding a double Cardan shaft (i.e., a limb of RUPUR (1) type), 12,13 which connects the base to the platform, in a translational PM.…”