Type synthesis of 5-DOF redundantly actuated parallel robots for super-large components with complicated surfaces

Jiang, Bing-Shan; Kong, Lingyu; Zhu, Shiqiang; Fang, Hairong; Xie, Anhuan; Huang, Guanyu; Gu, Jiande; Zhang, Lan; Zhang, Haoyang; Zhang, Jiatao

doi:10.1109/robio55434.2022.10011684

Cited by 1 publication

(1 citation statement)

References 27 publications

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“…In the movement process of the RAPM, the mechanism vibration impact should be avoided. Many scholars adopted piecewise function polynomial method, cubic and quintic spline curves, and B-spline interpolation curve, and proposed their own trajectory planning methods [27][28][29][30][31][32][33][34][35]. Such as higher-degree polynomial method can make velocity and acceleration of the robot too big.…”

Section: Motion Simulation 41 Trajectory Planning Of the 4spu-(2upr)r...mentioning

confidence: 99%

Type synthesis and trajectory planning of 5-DOF redundantly actuated parallel robots with large output rotational angles for large workpieces

Jiang,

Huang,

Zhu

et al. 2023

Robotica

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Aerospace represents the development of national science and technology. It is an important foundation for exploring space and an important guarantee for the construction of aerospace power. There are many large workpieces in the aerospace field. The box insulation layer of large workpieces is an important processing problem. A new thick processing equipment is proposed to process the box insulation layer of large workpieces. The thick processing equipment consists of the XYZ shaft long guide rail and five degrees of freedom (5-DOF) RAPA. The mechanical structure of the 5-DOF RAPA is a redundantly actuated parallel mechanism (RAPM). Meanwhile, this paper proposes a new method to design 5-DOF redundantly actuated parallel mechanisms (RAPMs) with large output rotational angles. Based on configuration evolution and Li group, two articulated moving platforms (AMPs) and four kinds of limbs are designed, and a series of 3T2R (T represents translation, R represents rotation) RAPMs and 2T3R RAPMs are synthesized. To verify the designed RAPMs with large angle, an example of RAPMs, 4UPS-{2UPR}-R is analyzed. To ensure that the RAPM has no mechanism vibration impact in movement, this paper represents the RAPM adopts a newly proposed trajectory planning method. The results show that the 4SPU-(2UPR)R mechanism possesses large angles and verifies the efficiency of the new proposed trajectory planning method in simplified trajectories. This work lays the foundation for processing the box insulation layer of large workpieces with straight lines and arcs paths.

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Section: Motion Simulation 41 Trajectory Planning Of the 4spu-(2upr)r...mentioning

confidence: 99%

Type synthesis and trajectory planning of 5-DOF redundantly actuated parallel robots with large output rotational angles for large workpieces

Jiang,

Huang,

Zhu

et al. 2023

Robotica

View full text Add to dashboard Cite

show abstract

Type synthesis of 5-DOF redundantly actuated parallel robots for super-large components with complicated surfaces

Cited by 1 publication

References 27 publications

Type synthesis and trajectory planning of 5-DOF redundantly actuated parallel robots with large output rotational angles for large workpieces

Type synthesis and trajectory planning of 5-DOF redundantly actuated parallel robots with large output rotational angles for large workpieces

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