Mobility Analysis of a Novel 3-5R Parallel Mechanism Family

Kwak

Proceedings of the Institution of Mechanical Engineers, Part C:

2013

In performing tasks requiring less than 6 degrees-of-freedom (DOF), lower mobility robots having a parallel structure are effective. This work investigates an asymmetric type 4 degrees-of-freedom parallel mechanism having Schö nflies motions. This mechanism would be useful for multi-purpose tasks because it incorporates a transmission linkage with appropriate output modules. The mobility analysis, kinematic modelling, and singularity analysis for the mechanism are performed. Optimal design parameters with respect to both the workspace size and kinematic isotropy are identified by employing composite global design index. In addition, to cope with the singularity problem, a new design involving redundant actuation is suggested. And dynamic simulations are conducted to reaffirm its high potential in real manufacturing applications.

Section: First-order Kinematicsmentioning

confidence: 99%

Multi-task oriented design of an asymmetric 3T1R type 4-DOF parallel mechanism

Kwak

Proceedings of the Institution of Mechanical Engineers, Part C:

2013

“…Without loss of generality, mobility of this mechanism can be identified through modified Chebychev-Grübler-Kutzbach-criterion suggested by Li and Huang 29 and Dai et al. 30 where M , n , f i , d , l , υ and g denote the mobility of the mechanism, the number of links including the ground, the degree of freedom of the joint i , the dimension of the mechanism joint motion screw system that spans the feasible motion space of all limbs of the mechanism, the number of independent loops, the number of redundant constraint screws and the number of joints, respectively.…”

Section: Description and Mobility Analysismentioning

confidence: 99%

Design of a new gravity balanced parallel mechanism with Schönflies motion

Kang

Proceedings of the Institution of Mechanical Engineers, Part C:

2016

In this paper, a new gravity-balanced 3T1R parallel mechanism is addressed. Firstly, structure description, inverse and forward kinematic modeling are performed in detail. Secondly, Jacobian derivation based on screw theory and singularity analysis using Grassmann Line Geometry is performed, and then optimal kinematic design with respect to workspace size, kinematic isotropy and maximum force transmission ratio are conducted. Thirdly, the gravity balancing design using both counterweights and springs is proposed and a prototype of this mechanism is also presented. Results of analysis show that the proposed mechanism has quite a few potential applications.

Volume 2: 29th Design Automation Conference, Parts a and B

“…Parallel mechanisms having three translational movement capabilities, also known as the three-DOF translational parallel mechanisms (TPMs), have been extensively studied in academia and widely applied in industry [1][2][3][4][5]. Type synthesis is one of important issues in the development of TPMs [5].…”

Section: Introductionmentioning

confidence: 99%

“…x ( 1,2,3 i  ), and thus their sum is also a function of these parameters over 3 Once the values of the parameters i t ( 1,2,3 i  ) are given, the values of…”

mentioning

confidence: 99%

Type Synthesis of Three-DOF Translational Parallel Mechanisms

Zong

et al. 2003

This paper presents a simple but effective type synthesis method for spatial parallel mechanisms with three translational degrees of freedom based on the screw theory. Firstly all possible connecting-chain structures of three-DOF parallel mechanisms are enumerated. According to the reciprocal relationship between screw constraint forces and the motion screw, a novel synthesis method is presented. By using this method, type synthesis for three-DOF translational parallel mechanisms has been made in a systematic and detailed way. As a result, some novel parallel mechanisms generating spatial translation have been obtained. To verify the significance of type synthesis for this kind of mechanism, the paper also gives a concrete application instance, which is used for a micromanipulator for manipulating the bio-cells.