Topology Synthesis of a 1-Translational and 3-Rotational Parallel Manipulator With an Articulated Traveling Plate

Abstract

Driven by the increasing demands of the aircraft assemblage for the pose-adjustment equipment in the large-scale component docking, this paper carries out the topology synthesis of a 1-translational and 3-rotational (1T3R) four degrees of freedom (DoF) parallel manipulator with an articulated traveling plate. First, the articulated traveling plate is defined as that includes more than one rigid body articulated by one or more kinematic joints. Then, the relationship among the DoFs of the parallel manipulator and the articulated traveling plate and the number of the in-parts are proposed. According to the agreement of the arrangement way between the open-loop limbs and the in-parts, the topology synthesis procedure of the 1T3R 4-DoF parallel manipulator with an articulated traveling plate is proposed. Finally, their topology structures are obtained by discussing those of four types in terms of 1D-H, 1D-V type with opposite layout and 1D-H, 1D-V type with adjacent layout, in which the topology structures exist only for 1D-H and 1D-V type with opposite layout.

Elastodynamic modeling and parameter sensitivity analysis of a parallel manipulator with articulated traveling plate

“…5. Concerning the effects of the internal joints, the procedure for formulating differential motion equation of ATP is summarized as follows: (1) apply beam element to describe the major features of each component and establish element coordinate frames, (2) formulate differential equation of each component separately, (3) analyze the relations of connecting modes according to the assembling conditions, and (4) assemble to get the differential equation of ATP by step (2) and (3). First of all, elements are assigned to the parts.…”

“…The moving platform is usually a single plate. Alternatively, the articulated traveling plate (ATP) is a special type of moving platform consisting of two or more in-parts and one out-part [3]. Besides the mobility provided by the kinematic chains, PM-ATP gains extra motions from the ATP.…”

“…In this regard, Sun [3] discussed the kinematic constraints within the ATP and proposed a group of PM-ATPs that can be applied as tracking mechanism, docking equipment, or machine tools. The parameterized topological models were further analyzed [21][22][23].…”

Static and dynamic optimization of a pose adjusting mechanism considering parameter changes during construction

“…Three types of docking equipment are mainly applied so far, i.e. pogo positioning platform, multi-suction platform and automated guided vehicle [1]. From topology point of view, these docking equipment are all constructed by serial structures.…”

“…Finally, a parallel pose adjusting mechanism named as PaQuad was proposed [17][18]. Instead of the common single moving platform, articulated travelling plate (ATP) is introduced to add extra rotation about the normal direction of moving platform.…”