Design and stiffness analysis of a class of 2-DoF tendon driven parallel kinematics mechanism

Abstract 2-DoF rotational mechanism is increasingly utilized in a large range of industrial applications. However, the structures of most of the existing mechanisms are very complex, which is a significant challenge for building them, due to the tight tolerance and assembly difficulties. In this paper, a class of 2-DoF tendon driven parallel kinematics mechanisms (TDPKM) are introduced, which can be structured with low manufacturing and assembly difficulties and is able to actively adjust the system stiffness. Since the unique class of mechanisms is developed, the kinematic model is established to derive the stiffness model, which considers the tendon, structural and central joint stiffness. Finally, a set of experiments of the deviation measurement under different payloads within the workspace are implemented and compared with the theoretical calculations presented in this paper. The overall deviation error between the experimental test and theoretical calculation are between 0.9% and 4.7% in the whole workspace.

[1]  Dragos Axinte,et al.  Pre-gait analysis using optimal parameters for a walking machine tool based on a free-leg hexapod structure , 2015, Robotics Auton. Syst..

[2]  Pinar Boyraz,et al.  Design and Modelling of a Cable-Driven Parallel-Series Hybrid Variable Stiffness Joint Mechanism for Robotics , 2017 .

[3]  Placid Mathew Ferreira,et al.  Computation of stiffness and stiffness bounds for parallel link manipulators 1 This research was sup , 1999 .

[4]  Todd Graham,et al.  On the inverse kinematics, statics, and fault tolerance of cable-suspended robots , 1998, J. Field Robotics.

[5]  J. Sofka,et al.  Omni-Wrist III - a new generation of pointing devices. Part I. Laser beam steering devices - mathematical modeling , 2006, IEEE Transactions on Aerospace and Electronic Systems.

[6]  C. Gosselin,et al.  Advantages of the modified Euler angles in the design and control of PKMs , 2002 .

[7]  Guilin Yang,et al.  Design and analysis of cable-driven manipulators with variable stiffness , 2013 .

[8]  Almas Shintemirov,et al.  An approach for obtaining unique kinematic solutions of a spherical parallel manipulator , 2014, 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[9]  Amir Khajepour,et al.  Kinematically-Constrained Redundant Cable-Driven Parallel Robots: Modeling, Redundancy Analysis, and Stiffness Optimization , 2017, IEEE/ASME Transactions on Mechatronics.

[10]  Gaurav S. Sukhatme,et al.  Rapid Computation of Optimally Safe Tension Distributions for Parallel Cable-Driven Robots , 2009, IEEE Transactions on Robotics.

[11]  Sunil K. Agrawal,et al.  Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots , 2017 .

[12]  Han Yuan,et al.  Static and dynamic stiffness analyses of cable-driven parallel robots with non-negligible cable mass and elasticity , 2015 .

[13]  Dragos Axinte,et al.  A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool , 2016 .

[14]  Xuechao Duan,et al.  Modeling and Analysis of a 2-DOF Spherical Parallel Manipulator , 2016, Sensors.

[15]  Jean-Pierre Merlet,et al.  Stability Analysis of Underconstrained Cable-Driven Parallel Robots , 2013, IEEE Transactions on Robotics.

[16]  Marc Arsenault,et al.  Workspace and stiffness analysis of a three-degree-of-freedom spatial cable-suspended parallel mechanism while considering cable mass , 2013 .

[17]  Shuang Cong,et al.  Size optimization of the moving platform for cable-driven parallel manipulators based on stiffness characteristics , 2018 .

[18]  Imme Ebert-Uphoff,et al.  Wrench-based analysis of cable-driven robots , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[19]  Jean-Pierre Merlet,et al.  Interval-Analysis-Based Determination of the Wrench-Feasible Workspace of Parallel Cable-Driven Robots , 2011, IEEE Transactions on Robotics.

[20]  Matteo Malosio,et al.  A spherical parallel three degrees-of-freedom robot for ankle-foot neuro-rehabilitation , 2012, 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[21]  Dan Zhang,et al.  Global stiffness modeling and optimization of a 5-DOF parallel mechanism , 2009, 2009 International Conference on Mechatronics and Automation.

[22]  Vrizlynn L. L. Thing,et al.  Generalized and lightweight algorithms for automated web forum content extraction , 2013, 2013 IEEE International Conference on Computational Intelligence and Computing Research.

[23]  Sunil Kumar Agrawal,et al.  On the Force-Closure Analysis of n-DOF Cable-Driven Open Chains Based on Reciprocal Screw Theory , 2012, IEEE Transactions on Robotics.

[24]  Dragos Axinte,et al.  Design and analysis of a family of snake arm robots connected by compliant joints , 2014 .

[25]  Dragos Axinte,et al.  Free-leg Hexapod: A novel approach of using parallel kinematic platforms for developing miniature machine tools for special purpose operations , 2011 .

[26]  Mustafa Shabbir Kurbanhusen,et al.  Force-closure workspace analysis of cable-driven parallel mechanisms , 2006 .

[27]  Yi-Qing Ni,et al.  DYNAMIC ANALYSIS OF LARGE-DIAMETER SAGGED CABLES TAKING INTO ACCOUNT FLEXURAL RIGIDITY , 2002 .

[28]  Guilin Yang,et al.  Kinematic design of a 7-DOF cable-driven humanoid arm: a solution-in-nature approach , 2005, AIM 2005.

[29]  J. S. Rao,et al.  Mechanism and machine theory , 1989 .

[30]  Saeed Behzadipour,et al.  Design of reduced DOF parallel cable-based robots , 2004 .