Type synthesis of 2T2R, 1T2R and 2R parallel mechanisms

Fan, Caixia; Liu, Hongzhao; Zhang, Yanbin

doi:10.1016/j.mechmachtheory.2012.10.006

Cited by 57 publications

(22 citation statements)

References 15 publications

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“…In equation (16) the Jacobian matrix produces a linear transformation between ̇ and ̇; however, the end-effector coordinates present two rotations and two translations. Thus, the transformation is not dimensionally homogenous.…”

Section: 3mentioning

confidence: 99%

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Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Araujo-Gómez

Díaz‐Rodríguez

Mata

et al. 2019

J Braz. Soc. Mech. Sci. Eng.

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The need of a device providing two translational (2T) and two rotational (2R) movements led us to the design a 3UPS-1RPU parallel manipulator. The manipulator consisted on a mobile platform connected to a base through four legs. That is, the manipulator layout has one central leg and three external legs at the same radial distance. By studying different locations of the legs anchoring point, we improved the first layout design, yet not the optimal one. On this basis, this paper focus on the optimal dimensional design of the manipulator. To this end, we put forward the kinematics equations of the manipulator in accordance to the anchoring points coordinates. Through a numerical approach, the equations enable to find the manipulator workspace. Also, we find a global manipulability index using a local dexterity measure. The latter index serves as optimal function. The optimization process considers joint constraints. Thus, we built a nonlinear optimization problem solved through sequential quadratic programming algorithms. We start by optimizing only a small set of parameters rather than the entire set, which gives us insights on the initial guess to optimize using the entire set. The optimal design layout varies from the original layout. Findings suggest that a task-oriented reconfiguration strategy can improve manipulator performance.

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Section: 3mentioning

confidence: 99%

“…One of such manipulators is the two rotational and two translational (2R2T) architecture. References [14][15][16][17] presented contributions on designing 4-DoF PMs with 2R2T motion. Although, they focus on theoretical design without considering experimental prototyping or specific application.…”

Section: Introductionmentioning

confidence: 99%

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Araujo-Gómez

Díaz‐Rodríguez

Mata

et al. 2019

J Braz. Soc. Mech. Sci. Eng.

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“…The famous 6-DOF Stewart-Gough platform and its derivative manipulators, which have been wellresearched and designed as simulators and industrial equipment, is hard to use in high-end situations because its moving platform can tilt no more than 40°from the horizontal plane at the home position. Other traditional parallel mechanisms (PMs), such as 2-RPC/2-SPS [2], 3-RRCR [3], 3-PRPS [4], also suffer from the same problem due to the high kinematic coupling.…”

Section: Introductionmentioning

confidence: 99%

Design and analysis of a class of redundant collaborative manipulators with 2D large rotational angles

et al. 2019

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The parallel spindle heads with high rotational capability are demanded in the area of multi-axis machine tools and 3D printers. This paper focuses on designing a class of 2R1T (R: Rotation; T: Translation) parallel spindle heads and the corresponding collaborative 5-axis manipulators with 2-dimension (2D) large rotational angles. In order to construct 2D rotational degrees of freedom (DOFs), a platform with 2D revolute joints is proposed first. Based on the constraint screw theory, the feasible limbs that can be connected in the platform are synthesized. In order to provide constant rotational axis for the platform, a class of redundant limbs are designed. A class of redundant 2R1T parallel spindle heads is obtained by connecting the redundant limbs with the platform and the redundant characteristics are verified by the modified Grübler-Kutzbach criterion. The corresponding 5-axis collaborative manipulators are presented by constructing a 2-DOF series translational bottom moving platform. The inverse kinematics and the orientation workspace as well as the decoupling characteristics of this type of 2R1T parallel spindle heads are analyzed. The results show that these manipulators have large 2D rotational angles than the traditional A3/Z3 heads and can be potentially used in the application of multi-axis machine tools and the 3D printers.

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“…It is noted that most type synthesis was based on screw theory [6-12, 19, 20], which does not consider the instantaneous motion characteristics. We incorporate Lie groups in synthesis, taking advantage of Lie groups in describing mathematically the precise succession of motions [21,22].…”

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 2T2R, 1T2R and 2R parallel mechanisms

Cited by 57 publications

References 15 publications

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Design and analysis of a class of redundant collaborative manipulators with 2D large rotational angles

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

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