Hostname: page-component-7dd5485656-tbj44 Total loading time: 0 Render date: 2025-10-31T16:50:13.528Z Has data issue: false hasContentIssue false
  • English
  • Français

Investigation of a novel 2R1T parallel mechanism and construction of its variants

Published online by Cambridge University Press:  17 May 2021

Jingfang Liu ,
Xiangmeng Fan Open the ORCID record for Xiangmeng Fan [Opens in a new window]  and
Huafeng Ding
Jingfang Liu
Affiliation:
College of Mechanical Engineering and Applied Electronics Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing, China Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, China
Xiangmeng Fan
Affiliation:
College of Mechanical Engineering and Applied Electronics Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing, China
Huafeng Ding*
Affiliation:
College of Mechanical Engineering and Applied Electronics Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing, China School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan, China
*
*Corresponding author. Email: dhf@ysu.edu.cn
Get access Rights & Permissions [Opens in a new window]

Abstract

A 3-RRPRR variable spherical symmetrical parallel mechanism (PM) with arc-shaped sliding pairs and no parasitic motion is presented, exhibiting two rotational and one translational (2R1T) degrees of freedom. Three limbs are symmetrically distributed between the base and end-effector; upper and lower parts of each limb are mirror symmetrical around the middle. The geometry, mobility, forward/inverse kinematics, workspace, and parasitic motion of the mechanism are analyzed, showing its ability to achieve large rotations around a continuous rotation axis. Finally, a structure synthesis strategy for variable spherical symmetrical PM is proposed, and several limb types meeting the conditions are obtained.

Keywords

parallel mechanism2R1Tworkspaceparasitic motiontype construction

Information

Type
Article
Information
Robotica , Volume 39 , Issue 10 , October 2021 , pp. 1834 - 1848
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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.)

Article purchase

Temporarily unavailable

References

Sofka, J., Slormin, V., Nikulin, V. V. and Nicholson, D. J., “Omni-Wrist III-a new generation of pointing devices. Part I. Laser beam steering devices-mathematical modeling,” IEEE Trans. Aerospace Electr. Syst. 42(2), 718–725 (2006).CrossRefGoogle Scholar
Rosheim, M. E. and Sauter, G. F., “Free-Space Optical Communications System Pointer,” In: Free-Space Laser Communication Technologies XV (2003) pp. 126–133.Google Scholar
Sofka, J., Skormin, V. A., Nikulin, V. V., Nicholson, D. J. and Rosheim, M., “New Generation of Gimbal Systems for Laser Positioning Applications,” In: Free-Space Laser Communication and Active Laser Illumination III. International Society for Optics and Photonics (2004) pp. 182–191.Google Scholar
Li, Y. G., Liu, H. T., Zhao, X. M., Huang, T. and Chetwynd, D. G., “Design of a 3-DOF PKM module for large structural component machining,” Mech. Mach. Theory 45(6), 941–954 (2010).CrossRefGoogle Scholar
Siciliano, B., “The Tricept robot: Inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm,” Robotica 17(4), 437–445 (1999).CrossRefGoogle Scholar
Huang, Z. and Li, Q. C., “General methodology for type synthesis of symmetrical lower-mobility parallel manipulators and several novel manipulators,” The Int. J. Rob. Res. 21(2), 131–145 (2002).CrossRefGoogle Scholar
Huang, Z. and Li, Q. C., “Type synthesis of symmetrical lower-mobility parallel mechanisms using the constraint-synthesis method,” Int. J. Rob. Res. 22(1), 59–79 (2003).Google Scholar
Gao, F., Zhang, Y. and Li, W. M., “Type synthesis of 3-DOF reducible translational mechanisms,” Robotica 23(2), 239–245 (2005).CrossRefGoogle Scholar
Gogu, G., “Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations,” Eur. J. Mech. A Solids 23(6), 1021–1039 (2004).CrossRefGoogle Scholar
Wu, Y. Q. and Carricato, M., “Synthesis and singularity analysis of N-UU parallel wrists: A symmetric space approach,” J. Mech. Rob. 9(5), 051013 (2017).CrossRefGoogle Scholar
Kong, X. W., Yu, J. J. and Li, D. L., “Reconfiguration analysis of a two degrees-of-freedom 3-4R parallel manipulator with planar base and platform,” J. Mech. Rob. 8(1), 011019 (2015).CrossRefGoogle Scholar
Kong, X. W. and Yu, J. J., “Type synthesis of two-degrees-of-freedom 3-4R parallel mechanisms with both spherical translation mode and sphere-on-sphere rolling mode,” J. Mech. Rob. 7(4), 041018 (2015).CrossRefGoogle Scholar
Li, Q. C. and Herve, J. M., “Type synthesis of 3-dof RPR-equivalent parallel mechanisms,” IEEE Trans. Rob. 30(6), 1333–1343 (2014).CrossRefGoogle Scholar
Li, Q. C., Xu, L. M., Chen, Q. H. and Ye, W., “New family of RPR-equivalent parallel mechanisms: design and application,” Chin. J. Mech. Eng. 30(2), 217–221 (2017).CrossRefGoogle Scholar
Zhao, Y. Q., Jin, Y. and Zhang, J., “Kinetostatic modeling and analysis of an Exechon parallel kinematic machine (PKM) module,” Chin. J. Mech. Eng. 29(1), 33–44 (2016).CrossRefGoogle Scholar
Ye, W., Li, Q. C. and Chai, X. X., “New family of 3-DOF UP-equivalent parallel mechanisms with high rotational capability,” Chin. J. Mech. Eng. 031(001), 57–68 (2018).CrossRefGoogle Scholar
Zhang, K., Fang, Y., Fang, H. and Dai, J. S.. “Geometry and constraint analysis of the three-spherical kinematic chain based parallel mechanism.” J. Mech. Rob. 2(3), 191–220 (2010).Google Scholar
Carretero, J. A., Podhorodeski, R. P., Nahon, M. A. and Gosselin, C. M., “Kinematic analysis and optimization of a new three degree-of-freedom spatial parallel manipulator,” J. Mech. Des. 122(1), 17–24 (2000).CrossRefGoogle Scholar
Liu, X. J., Wu, C., Wang, J. S. and Bonev, I., “Attitude description method of [PP]S type parallel robotic mechanisms,” Chin. J. Mech. Eng. 44(10), 19–23 (2008).CrossRefGoogle Scholar
Li, Q. C. and Hervé, J. M., “1T2R parallel mechanisms without parasitic motion,” IEEE Trans. Rob. 26(3), 401–410 (2010).Google Scholar
Li, Q. C., Chen, Z., Chen, Q. H., Hu, X. D. and Wu, C. Y., “Parasitic motion comparison of 3-PRS parallel mechanism with different limb arrangements,” Rob. Comput. Integr. Manuf. 27(2), 389–396 (2011).CrossRefGoogle Scholar
Xie, F. G., Liu, X. J. and Wang, J. S., “A 3-DOF parallel manufacturing module and its kinematic optimization,” Rob. Comput. Integr. Manuf. 28(3), 334–343 (2012).CrossRefGoogle Scholar
Xie, F. G., Liu, X. J. and Li, T. M., “A comparison study on the orientation capability and parasitic motions of two novel articulated tool heads with parallel kinematics,” Adv. Mech. Eng. 5, 249103 (2013).CrossRefGoogle Scholar
Chen, Z. M., Zhang, Y., Huang, K. and Huang, Z., “Symmetrical 2R1T parallel mechanism without parasitic motion,” J. Mech. Eng. 52(3), 9–15 (2016).CrossRefGoogle Scholar
Xu, Y. D., Zhang, D. S., Yao, J. T. and Zhao, Y. S., “Type synthesis of the 2R1T parallel mechanism with two continuous rotational axes and study on the principle of its motion decoupling,” Mech. Mach. Theory 108, 27–40 (2017).CrossRefGoogle Scholar
Chen, Z. M., Li, M., Kong, X. W. and Chen, Z., “Kinematics analysis of a novel 2R1T 3-PUU parallel mechanism with multiple rotation centers,” Mech. Mach. Theory 152, 103938 (2020).CrossRefGoogle Scholar
Qing-Zeng, F., Dunlop, G. R. and Jones, T. P., “Position analysis of a 3-DOF parallel manipulator.” Mech. Mach. Theory 32(8), 903–920 (1997).Google Scholar