A class of novel 2T2R and 3T2R parallel mechanisms with large decoupled output rotational angles

Xiao-dong, Jin; Fang, Yuefa; Qu, Haibo; Guo, Sheng

doi:10.1016/j.mechmachtheory.2017.04.003

Cited by 24 publications

(5 citation statements)

References 28 publications

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“…Wang [15] proposed some no singular position of parallel mechanisms by topology design and synthesized a class of novel 5-DOF parallel mechanisms with high rotational capability by designing two AMP. Jin [16,17] synthesized 3T2R and 2T3R parallel mechanisms by designing the AMP. The parallel mechanisms can reach ±180 • .…”

Section: Introductionmentioning

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: Introductionmentioning

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

“…According to reference [19][20], it is easy to obtain the configuration that meets the requirements along with design idea of the SPH structure. For the modeling and analysis of the manipulator structure, the analysis tools such as screw theory [21][22][23], displacement manifold [24][25][26] and Grassmann line geometry [27][28][29] are widely used. Based on the above method, multiple configurations can be synthesized under the condition that the DoF of the mechanism is determined.…”

Section: Introductionmentioning

confidence: 99%

Solving complex surface rolling tasks: propose scheme, mechanism configuration synthesis and apply a new PMs kinematic analysis method

He,

Fang,

Chen

et al. 2023

Preprint

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It is always a difficult point in the manufacturing field to realize the surface rolling of complex surface workpieces with both positive and negative curvature and taper by using robot technology. This working condition requires the working manipulator to carry the roller. In the process of advancing along the roller path, the feed direction of the roller always coincides with the normal line at the current point to ensure that the roller pressure is adjustable and controllable. Therefore, the manipulator needs to meet the performance characteristics of high stiffness, large workspace and flexible pose transformation. According to the analysis of the complex curved surface workpiece, we conclude that the manipulator configuration to realize the working action should have the 5-degree-of-freedom motion ability of 3R2T. After analyzing the work of the serial manipulator, we find that the attitude change will cause the joint angle of the manipulator to change suddenly, which will cause the potential risk of interference between the manipulator and the workpiece. Therefore, it can be determined that the manipulator with a series-parallel hybrid (SPH) configuration is more suitable for solving such problems. The first-level parallel mechanism is assigned to realize the position adjustment function and the second-level parallel mechanism is used to realize the attitude transformation. The configuration evolution is carried out by using the displacement manifold theory, and finally the SPH configuration is obtained. In the analysis of the workspace, a new solution method is proposed. Compared with the traditional solution method that requires a fixed attitude or position, the new method can obtain the full-attitude workspace while greatly reducing the amount of calculation. Finally, we prove that the designed configuration can realize the surface rolling task of complex curved workpieces through workspace analysis. The SPH manipulator configuration scheme proposed in this study can completely change the current production status of manual ways for such engineering problems. The proposed new method of workspace solution can be used as a tool to provide a more efficient solution path for mechanism workspace analysis.

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“…Briot et al [26] designed a series of decoupled PMs using a 4U parallelogram mechanism. Jin et al [27] utilized the parallelogram mechanism and its evolved structures to synthesize decoupled 2T2R PMs, the moving platforms of which have a large rotation angle. Sun et al [28] designed a 2-DOF flexible fully decoupled PM driven by piezoelectric ceramics using 4-PP double bending bars as structural joints of prism.…”

Section: Introductionmentioning

confidence: 99%

Type Synthesis of Fully Decoupled Three Translational Parallel Mechanism with Closed loop Units and High Stiffness

Wang

et al. 2021

Preprint

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In this paper, a new synthesis method of fully decoupled three translational (3T) parallel mechanisms (PMs) with closed loop units and high stiffness is proposed based on screw theory. Firstly, a new criterion for the full decoupled of PMs is presented that the reciprocal product of the transmission wrenc h screw matrix and the output twist screw matrix of PMs is a diagonal matrix, and all elements on the main diagonal are nonzero constants. The forms of the transmission wrench screws are determined by the criterion. Secondly, the forms of the actuated and unactuated screws can be obtained according to their relationships with the transmission wrench screws. The basic decoupled limbs are generated by combination of the above actuated and unactuated screws. Finally, a closed loop units construction method is investigated to apply the decoupled mechanisms in a better way on the high stiffness occasion. The closed loop units are constructed in the basic decoupled limbs to generate a high stiffness fully decoupled 3T PM. Kinematic and stiffness analys e s show that the Jacobian matrix is a diagonal matrix, and the stiffness is obviously higher than that of the orthogonal coupling mechanisms, which verifies the correctness of the proposed synthesis method. The mechanism synthesized by this method has a good applicati on prospect in vehicle durability test platform.

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A class of novel 2T2R and 3T2R parallel mechanisms with large decoupled output rotational angles

Cited by 24 publications

References 28 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

Solving complex surface rolling tasks: propose scheme, mechanism configuration synthesis and apply a new PMs kinematic analysis method

Type Synthesis of Fully Decoupled Three Translational Parallel Mechanism with Closed loop Units and High Stiffness

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