A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator

详细信息    查看全文

• 作者：Yuzhe Liu (1) (2)
  Liping Wang (1) (2)
  Jun Wu (1) (2)
  Jinsong Wang (1) (2)
  
  1. State Key Laboratory of Tribology and Institute of Manufacturing Engineering ; Department of Mechanical Engineering ; Tsinghua University ; Beijing ; 100084 ; China
  2. Beijing Key Laboratory of Precision/Ultra-precision Manufacturing Equipments and Control ; Beijing ; 100084 ; China
  
• 关键词：parallel mechanism ; concomitant motions ; kinematics ; workspaces ; error model
• 刊名：Frontiers of Mechanical Engineering
• 出版年：2015
• 出版时间：March 2015
• 年：2015
• 卷：10
• 期：1
• 页码：7-19
• 全文大小：2,344 KB
• 参考文献：1. Zubizarreta, A, Marcos, M, Cabanes, I (2012) Redundant sensor based control of the 3RRR parallel robot. Mechanism and Machine Theory 54: pp. 1-17 CrossRef
  2. Kucuk, S (2009) A dexterity comparison for 3-DOF planar parallel manipulators with two kinematic chains using genetic algorithms. Mechatronics 19: pp. 868-877 CrossRef
  3. Staicu, S (2009) Power requirement comparison in the 3-RPR planar parallel robot dynamics. Mechanism and Machine Theory 44: pp. 1045-1057 CrossRef
  4. Zhu, D, Feng, Y, Cai, J (2010) Kinematic analysis of 3-DOF perpendicular parallel manipulator with flexure hinge. Proceedings of Third International Conference on Knowledge Discovery and Data Mining. pp. 363-366
  5. Merlet, J P (2000) Parallel Robots. Kluwer Academic Publishers, London
  6. Merlet, J P (1993) Direct kinematics of parallel manipulators. IEEE Transactions on Robotics and Automation 9: pp. 842-846 CrossRef
  7. Harib, K, Srinivasan, K (2003) Kinematic and dynamic analysis of Stewart platform-based machine tool structures. Robotica 21: pp. 541-554 CrossRef
  8. Lee, K M, Shah, D K (1988) Kinematic analysis of a three-degrees-of-freedom in-parallel actuated manipulator. IEEE Journal of Robotics and Automation 4: pp. 354-360 CrossRef
  9. Yang, P, Waldron, K J, Orin, D E (1996) Kinematics of a three degree-of-freedom motion platform for a low-cost driving simulator. Recent Advances in Robot Kinematics. pp. 89-98 CrossRef
  10. Ceccarelli, M (1997) A new 3 DOF spatial parallel mechanism. Mechanism and Machine Theory 32: pp. 895-902 CrossRef
  11. Gosselin, C, Angeles, J (1989) The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator. Journal of Mechanical Design 111: pp. 202-207
  12. Wu, J, Wang, J, Wang, L (2010) Performance comparison of three planar 3-DOF parallel manipulators with 4-RRR, 3-RRR and 2-RRR structures. Mechatronics 20: pp. 510-517 CrossRef
  13. Wu, J, Chen, X, Wang, L (2014) Dynamic load-carrying capacity of a novel redundantly actuated parallel conveyor. Nonlinear Dynamics 78: pp. 241-250 CrossRef
  14. Wu, J, Li, T, Wang, J (2013) Performance analysis and comparison of planar 3-DOF parallel manipulators with one and two additional branches. Journal of Intelligent & Robotic Systems 72: pp. 73-82 CrossRef
  15. Liu Y, Wu J, Wang L, et al. Determination of the maximal singularity-free zone of 4-RRR redundant parallel manipulators and its application on investigating length ratios of links. Robotica (in press)
  16. Karouia, M, Herv茅, J M (2000) A three-dof tripod for generating spherical rotation. Advances in Robot Kinematics. pp. 395-402 CrossRef
  17. Vischer, P, Clavel, R (2000) Argos: A novel 3-DoF parallel wrist mechanism. International Journal of Robotics Research 19: pp. 5-11 CrossRef
  18. Gregorio, R (2001) A new parallel wrist using only revolute pairs: The 3-RUU wrist. Robotica 19: pp. 305-309 CrossRef
  19. Zlatanov, D, Bonev, I A, Gosselin, C M (2002) Constraint singularities of parallel mechanisms. Proceedings of IEEE International Conference on Robotics and Automation (ICRA鈥?2) 1: pp. 496-502 CrossRef
  20. Fang, Y, Tsai, LW (2004) Structure synthesis of a class of 3-DOF rotational parallel manipulators. IEEE Transactions on Robotics and Automation 20: pp. 117-121 CrossRef
  21. Li, Y, Xu, Q (2007) Kinematic analysis of a 3-PRS parallel manipulator. Robotics and Computer-integrated Manufacturing 23: pp. 395-408 CrossRef
  22. Chen, C, Huang, Y M, Han, X Z (2009) Study and analysis of The 3-PRS parallel mechanism. Proceedings of International Conference on Mechatronics and Automation (ICMA 2009). pp. 1515-1520 CrossRef
  23. Huang, P, Wang, J, Wang, L (2010) Kinematical error analysis and identification of a 3-PRS parallel mechanism. Journal of Tsinghua University (Science and Technology) 50: pp. 1811-1814
  24. Huang, P, Wang, J, Wang, L (2011) Identification of structure errors of 3-PRS-XY mechanism with regularization method. Mechanism and Machine Theory 46: pp. 927-944 CrossRef
  25. Li, Y, Xu, Q (2005) Kinematics and inverse dynamics analysis for a general 3-PRS spatial parallel mechanism. Robotica 23: pp. 219-229 CrossRef
  26. Zhang X, Fang H. Optimization of a 3-PRS parallel manipulator based on interval analysis. In: Proceedings of 2012 10th World Congress on Intelligent Control and Automation (WCICA). IEEE, 2012, 2452-2456
  27. Yuan, W H, Tsai, M S (2014) A novel approach for forward dynamic analysis of 3-PRS parallel manipulator with consideration of friction effect. Robotics and Computer-integrated Manufacturing 30: pp. 315-325 CrossRef
  28. Gosselin, C M (2002) Geometric analysis of parallel mechanisms. Laval University, Quebec
  
• 刊物类别：Engineering
• 刊物主题：Mechanical Engineering
  Chinese Library of Science
  
• 出版者：Higher Education Press, co-published with Springer-Verlag GmbH
• ISSN：2095-0241

文摘

In this paper, a novel 3-degree of freedom (3-DOF) spatial parallel kinematic machine (PKM) is analyzed. The manipulator owns three main motions (two rotations and one translation) and three concomitant motions (one rotation and two translations). At first, the structure of this spatial PKM is simplified according to the characteristic of each limb. Secondly, the kinematics model of this spatial PKM is set up. In addition, the relationship between the main motions and concomitant motions is studied. The workspaces respectively based on the outputs and inputs are derived and analyzed. Furthermore, the velocity model is put forward. Two indexes based on the velocity model are employed to investigate the performance of this spatial PKM. At last, the output error model can be obtained and simulated. The comprehensive kinematics analysis in this paper is greatly useful for the future applications of this spatial PKM.