Type synthesis of 2T1R-type parallel kinematic mechanisms and the application in manufacturing

Xie, Fugui; Liu, Xin-Jun; You, Zheng; Wang, Jinsong

doi:10.1016/j.rcim.2013.07.002

Cited by 78 publications

(24 citation statements)

References 27 publications

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“…This section considers a line-graph method [23,24] based on Grassmann line geometry [25,26] to analyze the mobility of the presented spatial parallel mechanism. The principle for the articulated mobile platform to generate the 3T1R motions are described in detail.…”

Section: Mobility Analysismentioning

confidence: 99%

Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

2017

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This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom (DOFs) high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 1½ mobile platform. The mobile platform is a major innovation that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot's DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.

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Section: Mobility Analysismentioning

confidence: 99%

Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

2017

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“…Other researchers have developed a welding robot, which installed on the top of the cylinder, implementing the welding process with the rotation around its axis [4][5][6]. A synthesized mechanism was chosen as the parallel module of a five degree of freedom hybrid machine tool [7][8][9][10]. However, for large intersecting line components, due to their large weight, movement needs greater power, and the cost of tooling is also higher, resulting in more complex and high cost of control system.…”

Section: Introductionmentioning

confidence: 99%

A New Welding Robot for Intersected Weld of Pipes Used in Large Pressure Vessels

2019

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A self-designed new welding robot to be employed in the intersected weld of large pressure pipes is introduced in this paper. The welding robot can effectively serve as a substitute for a worker who would otherwise face a high labor intensity. The pose model of the welding tool is established to ensure that the welding tool maintains a good pose to make the molten pool run smoothly. The kinematics model of welding robot is established by Denavit-Hartenberg method, and the trajectory of welding tool is planned and determined. The designed of control system is communicated through PLC and touch screen, based on flexible modular mechanism, the welding tool pose can be adjusted according to the pressure vessel specification and the size of welding seam to ensure the welding quality of welding seam. Finally, the test unit for the designed robot system is set up, and experiments demonstrate that this welding robot could meet the intersected welding requirements of a large pressure vessels environment.

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“…In particular, 2T1R PMs generates one rotation (1R) and two translations (2T). This type of mechanisms has very wide applications in industry, such as flight motion simulation, pointing and tracking, and assembling and machining [4,12,19,20], while type synthesis was generally studied for other types of parallel manipulators. Type synthesis of 2T1R DPMs was not systematically addressed.…”

Section: Introductionmentioning

confidence: 99%

Type Synthesis of 2T1R Decoupled Parallel Mechanisms Based on Lie Groups and Screw Theory

Bai

2017

Mathematical Problems in Engineering

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Decoupled parallel mechanisms (DPMs) have the characteristics of compact structure and simple control with wide applications. This paper presents a new method of type synthesis for DPMs by virtue of Lie groups and screw theory. The method consists of synthesis at limb level and configuration level. At limb level, Lie group is used to synthesize the limbs with required DOFs. At configuration level, screw theory is adopted to determine configuration with synthesized limbs that satisfy the type synthesis criteria of DPMs. The type synthesis criteria including limb decoupling and selection of the driving pairs are presented. Upon the formulation, the procedure of type synthesis of DPMs is developed. Type synthesis is conducted with the proposed method, which leads to new spatial and planar fully decoupled 2T1R mechanisms.

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Type synthesis of 2T1R-type parallel kinematic mechanisms and the application in manufacturing

Cited by 78 publications

References 27 publications

Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

A New Welding Robot for Intersected Weld of Pipes Used in Large Pressure Vessels

Type Synthesis of 2T1R Decoupled Parallel Mechanisms Based on Lie Groups and Screw Theory

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