Design and analysis of a 6-DOF mobile parallel robot with 3 limbs

Abstract

Mobile parallel robots (MPR), which structurally configured a moving platform and several parallel limbs with an actuating wheel at the end of each limb, exhibit advantages in high mobility, high load capability and high flexibility in complex task environments. In this paper, a 6-DOF MPR with 3-PPUU (Prismatic-Prismatic Universal-Universal) limbs is proposed. The structural scheme and inverse kinematics are first presented; the orientational workspace and the dexterity of the MPR are analyzed in detail. A parametric optimal design model is then developed; the optimal scheme of the MPR is obtained. The constant-posture control scheme and algorithm are also proposed in this paper. A prototype of the 3-PPUU MPR with omni-orientational wheels is developed and the precision for both translation and orientation of the prototype is measured by experiments, which verify the feasibility of the proposed MPR scheme.

Mobile Parallel Manipulators, Modelling and Data-Driven Motion Planning

“…Research into mobile parallel manipulators is a relatively new research domain, and substantial literature has recently been published [18][19][20][21][22][23]. In this paper we use the architecture presented in [2], which consists of a threewheeled nonholonomic mobile robot and a modified 4-DOF MPM version of a DELTA parallel robot (Fig.…”

Motion Control and Trajectory Planning for Obstacle Avoidance of the Mobile Parallel Robot Driven by Three Tracked Vehicles

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Adaptive Control of a Cable-Actuated Parallel Manipulator Mounted on a Platform with Differential Wheels under Payload Uncertainty

“…For the same robotic system, Korayem et al [4] incorporated cable sagging in the calculation while the end-e ector and the wheeled platform were controlled independently. In order to ensure a wide operation area and good mobility, Hu et al [5] introduced an integrated design of a mobile parallel robot with threewheeled limbs. Each limb consists of the prismatic and universal joints, as well as omni-directional wheels at the end of the limb.…”