Structural synthesis of the new type 4DOF robot manipulators for industry and medicine

Abstract

Different types of overconstrained \({\left\{d\right\}}_{0}^{5}\) robot manipulators are widely applied in industry and medicine. By applying advanced scientific approaches, the design of the new type of serial and parallel overconstrained robot manipulators with wider working zone, high speed and less singular configuration is an actual issue. In this research work, the structural synthesis of the new type of spatial serial and parallel type robot manipulators with four degrees of freedom (4DOF) is performed by using the transformation of a plane-cylinder (\(PC\)) higher kinematic pair. In this case, the number of spatial mobility \(\lambda = 4\) and the number of constraints \(d = 2\) for the plane-cylinder higher kinematic pair are found with analytical method. For each of the designed spatial serial and parallel type 4DOF robot manipulators, along the gripper has the same mobility in the subspace \({\left\{{\lambda }_{i}\right\}}_{1}^{5}\), the direction of their constraints is determined by applying different configurations on the coordinate axes (revolute and translation on \(x, y, z\) axes). The 3D models of the newly designed 4DOF robot manipulators are indicated in the tables, and new 4DOF robot manipulators specially designed to be used in industry and medicine are presented.