Synthesis and Analysis of 4-DOF Parallel Manipulator with Passive Subchain

Hu, Ying; Li, Bing; Hu, Hong; Wang, Ying

doi:10.4028/www.scientific.net/MSF.532-533.677

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Home Materials Science Forum Advances in Materials Manufacturing Science and...Synthesis and Analysis of 4-DOF Parallel...

Synthesis and Analysis of 4-DOF Parallel Manipulator with Passive Subchain

Abstract:

A new class of 4-DOF Parallel Manipulator (PM) with five supporting subchains is synthesized based on enumeration method. Targeting at 4PUS-1PPU PM, the inverse kinematics and dexterity analysis are developed, and the geometric parameters are determined.

Info:

Periodical:

Materials Science Forum (Volumes 532-533)

Main Theme:

Advances in Materials Manufacturing Science and Technology II

Edited by:

Chengyu Jiang, Geng Liu, Dinghua Zhang and Xipeng Xu

Pages:

677-680

DOI:

https://doi.org/10.4028/www.scientific.net/MSF.532-533.677

Citation:

Y. Hu et al., "Synthesis and Analysis of 4-DOF Parallel Manipulator with Passive Subchain", Materials Science Forum, Vols. 532-533, pp. 677-680, 2006

Online since:

December 2006

Authors:

Ying Hu, Bing Li, Hong Hu, Ying Wang

Keywords:

Dexterity, Kinematics, Parallel Manipulator, Type Synthesis

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$38.00

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References

[1] Y.F. Fang and L.W. Tsai: The International of Robotics Research, Vol. 21 (2002) No. 9, pp.799-810.

[2] L.W. Tsai: 10th World Congress on the Theory of Machine and Mechanisms, Vol. 3 (1999), pp.1121-1126.

[3] A.J. Sameer: A Comparative Study of Two Classes of 3-DOF Parallel Manipulator (PhD Thesis, University of Maryland 2002).

[4] D. Tesar and G. Matthew: The Dynamic Synthesis, Analysis, and Design of Modeled Cam Systems (Lexington Books, D.C. Heath & Company 1976).

Paper TitlePages

Optimal Kinematic Design of a 2-DOF Planar Parallel Manipulator

Authors: Xiao Rong Zhu, Hui Ping Shen, Wei Zhu

Abstract: This paper addresses geometry design and operating mode optimum design of a new kind of 2-DOF parallel manipulator actuated horizontally by linear actuators. The forward and inverse kinematics of this manipulator are derived. The four groups of inverse solution correspond to four different operating modes which cannot transit to each other smoothly. The workspace and the singularity trajectory of each mode are discussed. Based on the desired workspace, the geometry of the mechanism is determined. The operating mode of the mechanism is optimized according to distributing of all global and local performance indices on the workspace. The results are very useful for the design and application of the new manipulator with multiple forward and inverse solutions.

1843

Optimal Design of 6-UPU Parallel Mechanism

Authors: Guang Hua Wu, Lie Hang Gong, Xin Wei Ji, Zhong Jun Wu, Yong Jun Gai

Abstract: The methodology of the optimal design for the 6-UPU parallel mechanism (PM) is presented based on genetic algorithms. The optimal index which expressed by Jacobian matrix of the PM is first deduced. An optimal model is established, in which the kinematic dexterity of a parallel mechanism is considered as the objective function. The design space, the limiting length of the electric actuators and the limit angles of universal joints are taken as constraints. The real-encoding genetic algorithm is applied to the optimal design of a parallel mechanism, which is proved the validity and advantage for the optimal design of a similar mechanism.

1055

Local Stiffness and Dexterity Analysis of a 3-SPS-S Orientation Fine-Tuning Manipulator for Segment Assembly Robots in Shield Tunneling Machines

Authors: Yan Wei Zhang, Bin Wei, Guo Hua Cui, Nan Wang

Abstract: This study focus on the stiffness analysis of a three-DOF orientation fine-tuning manipulator for segment assembly robots in shield tunneling machines. In underground space development, shield tunneling machines are widely used in subway tunnels, channel tunnels and other kinds of tunnels. As one of the key sub-devices in a shield tunneling machine, a segment assembly robot is used to automatically form the segment lining. In order to evaluate the operational capacity, an analysis of the inverse kinematics is conducted. The local performance atlas, including stiffness and dexterity, are investigated. The results show that the proposed orientation fine-tuning manipulator has good performances and it can meet the needs.

904

Kinematics and Dexterity Analysis for a Novel Hybrid Kinematic Machine

Authors: Hong Jian Yu, Bing Li, Yang Wang, Ying Hu

Abstract: In this paper a novel 4 Degree-of-Freedom (DOF) parallel mechanism with the configuration of 4PUS-1RPU is applied for a 5-axis Hybrid Kinematic Machine (HKM), combined with an additional linear motion. The Parallel Kinematic Mechanism (PKM) is composed of four symmetrical driving chains and one central passive sub-chain. Firstly, the mechanism is described, and the mobility is analyzed. Then the inverse kinematics of the 4-DOF PKM and the direct kinematics for the serial central sub-chain are then presented. The dexterity and the workspace analysis for the mechanism are also carried out. Finally, machining experiment research is presented to verify the effect of the prototype. The research provides the basis for the further parametric design with consideration of kinematic and dexterity performance.

420

Kinematic Transmission Analysis of a Novel Spherical 3-RRR Parallel Manipulator

Authors: Liang Zhang, Zhen Lin Jin

Abstract: The kinematic transmission property and distributions in workspace of a novel spherical 3-RRR parallel mechanism are given. The orthogonal layout feature of the parallel mechanism is described. The equations for inverse displacement and kinematic transmission property are derived by the relation of geometry. The kinematic transmission evaluation index of a spherical 3-RRR parallel mechanism is defined. Finally, the distribution of the index in workspace was given, which can provide theoretical basis for the application of the spherical mechanism.

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