Hostname: page-component-cd9895bd7-hc48f Total loading time: 0 Render date: 2024-12-26T19:16:38.537Z Has data issue: false hasContentIssue false
  • English
  • Français

Dimensional synthesis of a 3UPS-PRU parallel robot

Published online by Cambridge University Press:  31 January 2017

Yongjie Zhao  and
Gang Cheng
Yongjie Zhao*
Affiliation:
Department of Mechatronics Engineering, Shantou University, Shantou, Guangdong 515063, P. R. China
Gang Cheng
Affiliation:
School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, Jiangsu 221116, P.R. China. E-mail: chg@cumt.edu.cn
*
*Corresponding author. E-mail: meyjzhao@stu.edu.cn
Get access Rights & Permissions [Opens in a new window]

Summary

This paper introduces the methodology of the dimensional synthesis for a 3UPS-PRU parallel robot. The dimensional synthesis of the 3UPS-PRU parallel robot is proposed considering the maximum input velocity of actuating joints as the objective function and constraints on the installation dimension, robot dimension, joint rotation angle and interference. The objective of the dimensional synthesis is to minimize the maximum input velocity of actuating joints when the moving platform translates along the z-axis in the maximum linear velocity and rotates about an arbitrary axis in the maximum angular velocity in the desired workspace. The constraint on the robot dimension is included in the dimensional synthesis of the 3UPS-PRU parallel robot when pursuing the kinematic property to meet the miniaturization principle with the reduced building cost. An example of the dimensional synthesis of a 3UPS-PRU parallel robot is presented with the maximum linear velocity and angular velocity required for the moving platform in the desired workspace.

Keywords

3UPS-PRU parallel robotDimensional synthesisKinematicsMaximum input velocity
Type
Articles
Information
Robotica , Volume 35 , Issue 12 , December 2017 , pp. 2319 - 2329
Copyright
Copyright © Cambridge University Press 2017 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Le, A.Y., Mills, J. K. and Benhabib, B., “Dynamic modeling and control design for a parallel-mechanism-based meso-milling machine tool,” Robotica 32 (4), 515–532 (2014).CrossRefGoogle Scholar
2. Zhang, D., Parallel Robotic Machine Tools (Springer, Berlin, 2010).CrossRefGoogle Scholar
3. Li, Y., Wang, J., Liu, X. J. and Wang, L. P., “Dynamic performance comparison and counterweight optimization of two 3-DOF parallel manipulators for a new hybrid machine tool,” Mech. Mach. Theory 45 (1), 1668–1680 (2010).Google Scholar
4. Dong, W., Du, Z., Xiao, Y. and Chen, Y., “Development of a parallel kinematic motion simulator platform,” Mechatronics 23 (1), 154–161 (2013).CrossRefGoogle Scholar
5. Zhao, Y., Gao, F., Li, W., Liu, W. and Zhao, X., “Development of 6-dof parallel seismic simulator with novel redundant actuation,” Mechatronics 19 (3), 422–427 (2009).Google Scholar
6. Cheng, G., Li, Y., Feng, L., Shan, X. and Yang, J., “Configuration bifurcation and self-motion analysis of 3SPS + 1PS bionic parallel test platform for hip joint simulator,” Mech. Mach. Theory 86, 62–72 (2015).CrossRefGoogle Scholar
7. Zhao, Y., Qiu, K., Wang, S. and Zhang, Z., “Inverse kinematics and rigid-body dynamics for a three rotational degrees of freedom parallel manipulator,” Robot. Comput-Integr. Manuf. 31, 40–50 (2015).CrossRefGoogle Scholar
8. Hosseini, M. A. and Daniali, H. M., “Cartesian workspace optimization of Tricept parallel manipulator with machining application,” Robotica 33 (9), 1948–1957 (2015).Google Scholar
9. Staicu, S., “Recursive modelling in dynamics of Delta parallel robot,” Robotica 27 (2), 199–207 (2009).Google Scholar
10. Li, H. H., Yang, Z. Y. and Huang, T., “Dynamics and elasto-dynamics optimization of a 2-dof planar parallel pick-and-place robot with flexible links,” Struct. Multidiscip. Optim. 8 (2), 195–204 (2009).CrossRefGoogle Scholar
11. Zhao, Y., “Dynamic performance evaluation of a three translational degrees of freedom parallel robot,” Int. J. Robot. Autom. 27 (1), 31–40 (2012).Google Scholar
12. Merlet, J. P., Parallel Robots, 2nd ed. (Kluwer Academic Publishers, Dordrecht, 2005).Google Scholar
13. Gogu, G., Structural Synthesis of Parallel Robots Part 1: Methodology (Springer, Berlin, 2008).CrossRefGoogle Scholar
14. Zhao, Y., “Dynamic optimum design of a three translational degrees of freedom parallel robot while considering anisotropic property,” Robot. Comput-Integr. Manuf. 29 (4), 100–112 (2013).CrossRefGoogle Scholar
15. Gao, F., Liu, X. J. and Gruver, W. A., “Performance evaluation of two-degree-of-freedom planar parallel robots,” Mech. Mach. Theory 33 (6), 661–668 (1998).Google Scholar
16. Liu, X. J., Wang, J. S. and Pritschow, G., “Performance atlases and optimum design of planar 5R symmetrical parallel mechanisms,” Mech. Mach. Theory 41 (2), 119–144 (2006).Google Scholar
17. Gosselin, C. M. and Angeles, J., “The optimum kinematic design of a planar three-degree-of-freedom parallel manipulators,” ASME J. Mech. Trans. Auto. Des. 110 (1), 35–41 (1988).Google Scholar
18. Gosselin, C. M. and Angeles, J., “A global performance index for the kinematic optimization of robotic manipulators,” ASME J. Mech. Des. 113 (3), 220–226 (1991).Google Scholar
19. Huang, T., Li, Z. X., Li, M., D. Chetwynd, G. and Gosselin, C. M., “Conceptual design and dimensional synthesis of a novel 2-DOF translational parallel robot for pick-and-place operations,” ASME J. Mech. Des. 126 (3), 449–455 (2004).CrossRefGoogle Scholar
20. Huang, T., Li, M., Li, Z. X., D. Chetwynd, G. and Whitehouse, D. J., “Optimal kinematic design of 2-DOF parallel manipulators with well-shaped workspace bounded by a specified conditioning index,” IEEE Trans. Robot. Autom. 20 (3), 538–543 (2004).Google Scholar
21. Laribi, M. A., Romdhane, L. and Zeghloul, S., “Analysis and dimensional synthesis of the DELTA robot for a prescribed workspace,” Mech. Mach. Theory 42 (7), 859–870 (2007).CrossRefGoogle Scholar
22. Li, H. D., Gosselin, C. M. and Richard, M. J., “Determination of the maximal singularity-free zones in the six-dimensional workspace of the general Gough–Stewart platform,” Mech. Mach. Theory 42 (4), 497–511 (2007).Google Scholar
23. Bai, S. P., “Optimum design of spherical parallel manipulators for a prescribed workspace,” Mech. Mach. Theory 45 (2), 200–211 (2010).Google Scholar
24. Liu, X. J., Wang, J. S., K. Oh, K. and Kim, J. W., “A new approach to the design of a DELTA robot with a desired workspace,” J. Intell. Robot. Sys. 39 (2), 209–225 (2004).Google Scholar
25. Hong, K. S. and Kim, J. G., “Manipulability analysis of a parallel machine tool: application to optimal link length design,” J. Rob. Syst. 17 (8), 403–415 (2000).Google Scholar
26. Zhao, Y. J., “Dimensional synthesis of a three translational degrees of freedom parallel robot while considering kinematic anisotropic property,” Robot. Comput-Integr. Manuf. 29 (1), 169–79 (2013).Google Scholar
27. Hao, F. and Merlet, J. P., “Multi-criteria optimal design of parallel manipulators based on interval analysis,” Mech. Mach. Theory 40 (2), 157–171 (2005).CrossRefGoogle Scholar
28. Rao, N. M. and Rao, K. M., “Multi-position dimensional synthesis of a spatial 3-RPS parallel manipulator,” ASME J. Mech. Des. 128 (4), 815–819 (2006).Google Scholar
29. Xu, Q. S. and Li, Y. M., “Error analysis and optimal design of a class of translational parallel kinematic machine using particle swarm optimization,” ASME J. Mech. Des. 27 (1), 67–78 (2009).Google Scholar
30. Toz, M. and Kucuk, S., “Dexterous workspace optimization of an asymmetric six-degree of freedom Stewart–Gough platform type manipulator,” Rob. Auton. Syst. 61 (12), 1516–1528 (2013).Google Scholar
31. Luo, Y. J., Zhang, Y. S., Huang, R. N., Chen, X. and Li, Z. X., “Optimization algorithms for kinematically optimal design of parallel manipulators,” IEEE Trans. Autom. Sci. Eng. 11 (2), 574–584 (2014).Google Scholar
32. Xin, R., Zhao, Y. J. and He, J., “Distant neighborhood PSO algorithm and its application on the optimization design of the Delta robot,” Chinese J. Eng. Des. 21 (4), 334–339 (2014).Google Scholar
33. Huang, T., Li, M., Zhao, X. M., Mei, J. P., D. Chetwynd, G. and Hu, S. J., “Conceptual design and dimensional synthesis for a 3-dof module of the TriVariant–-a novel 5-dof reconfigurable hybrid robot,” IEEE Trans. Robot. 21 (3), 449–456 (2005).CrossRefGoogle Scholar
34. Liu, H. T., Huang, T., Zhao, X. M., J. Mei, P. and Chetwynd, D. G., “Optimal design of the TriVariant robot to achieve a nearly axial symmetry of kinematic performance,” Mech. Mach. Theory 42, 1643–1652 (2007).CrossRefGoogle Scholar