Author:
Yang Yi,Tang Yaqi,Chen Haijun,Peng Yan,Pu Huayan
Abstract
Abstract. With the requirement of heavy load for pick-and-place operation, a new 3-DoF asymmetric translational parallel manipulator is invented in this paper. This manipulator is assembled by a kinematic limb with the parallel linear motion elements(PLMEs), and a single loop 2-UPR. Owning to the linear actuators directly connecting the moving and the fixed platforms, this parallel manipulator has high force transmission efficiency, and adapts to pick-and-place operation under heavy load. In this paper, the mobility and singularity are firstly analyzed by screw theory. And the simplified kinematic and dynamic model is established and solved. Secondly, the reaction forces of the prismatic joints in the PLMEs limb are investigated for the mechanism design. Also, the overall performance of the whole manipulator, such as the workspace, condition numbers of Jacobian matrices and motion transmission, etc, are discussed. Thirdly, a compound evaluation function, which involves the factors of workspace volume, transmission efficiency and reaction force, is proposed. In order to obtain a set of better design parameters, the optimization of the 3-DoF translational manipulator is conducted, for the object of maximum of the evaluation function. At last, the prototype is manufactured and experimented to validate the mobility and motion feasibility of this mechanism design.
Funder
National Natural Science Foundation of China
Subject
Industrial and Manufacturing Engineering,Fluid Flow and Transfer Processes,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering,Control and Systems Engineering
Reference37 articles.
1. Blanding, D. L.: Exact Constraint: Machine Design Using Kinematic Principle, ASME Press, New York, 1999. a
2. Bonev, I. A., Zlatanov, D., and Gosselin, C. M.: Singularity analysis of 3-dof planar parallel mechanisms via screw theory, J. Mech. Des., 125, 573–581, https://doi.org/10.1115/1.1582878, 2003. a
3. Bouri, M. and Clavel, R.: The linear delta: Developments and applications[C]//Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK), VDE, 1–8, 2010. a
4. Carricato, M. and Parenti-Castelli, V.: Singularity-free fully-isotropic translational parallel mechanisms, Int. J. Rob. Res., 21, 161–174, https://doi.org/10.1177/027836402760475360, 2002, a
5. Chablat, D. and Wenger, P.: Architecture optimization of a 3-DOF translational parallel mechanism for machining applications, the orthoglide, IEEE. J. Robot., 19, 403–410, https://doi.org/10.1109/TRA.2003.810242, 2003. a
Cited by
3 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献