Optimal kinematic design of a three translational DoFs parallel manipulator

In this paper, an optimal kinematic design method of a three translational DoFs parallel manipulator is presented. The design is based on the concept of performance chart, which can show the relationship between a criterion and design parameters graphically and globally. The normalization on the design parameters of the studied manipulator makes it possible that the design space, which is made up of the normalized parameters, is limited. The design space includes of all possible basic similarity manipulators (BSMs). As any one of the BSMs represents all of its similarity manipulators (SMs) in terms of performances, if one BSM is optimal, its SMs are optimized as well. The said optimal BSM is from the optimum region, which is the intersecting result of involved performance charts. In this paper, the related performance criteria are good-conditioning workspace (GCW), global conditioning index (GCI) and global stiffness index (GSI). As an applying example, a design result of the parallel manipulator with a desired task workspace is presented. The results of the paper are very useful for the design and application of a parallel manipulator.

[1]  Jorge Angeles,et al.  On the kinematic design of the 5R planar, symmetric manipulator , 2001 .

[2]  François Pierrot.  Modelling and Preliminary Design Issues of a 3-Axis Parallel Machine-Tool , 2002 .

[3]  Xin-Jun Liu,et al.  A three translational DoFs parallel cube-manipulator , 2003, Robotica.

[4]  Charles A. Klein,et al.  Dexterity Measures for the Design and Control of Kinematically Redundant Manipulators , 1987 .

[5]  Anna Kosinska,et al.  Determination of parameters of 3-dof spatial orientation manipulators for a specified workspace , 2003, Robotica.

[6]  J. Kenneth Salisbury,et al.  Articulated Hands , 1982 .

[7]  Marco Ceccarelli,et al.  Optimal design of CaPaMan (Cassino Parallel Manipulator) with a specified orientation workspace , 2002, Robotica.

[8]  Feng Gao,et al.  Performance atlases of the workspace for planar 3-DOF parallel manipulators , 2000, Robotica.

[9]  P. Zsombor-Murray,et al.  Singularity Analysis of a General Class of Planar Parallel Manipulators , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[10]  C. Gosselin,et al.  The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator , 1988 .

[11]  Jeha Ryu,et al.  Volumetric error analysis and architecture optimization for accuracy of HexaSlide type parallel manipulators , 2003 .

[12]  François Pierrot,et al.  DELTA: a simple and efficient parallel robot , 1990, Robotica.

[13]  Gregory Walsh,et al.  Optimization of a three DOF translational platform for well-conditioned workspace , 1997, Proceedings of International Conference on Robotics and Automation.

[14]  M.-O. Demaurex.  The Delta Robot within the Industry , 1999 .

[15]  Clément Gosselin,et al.  Conceptual Design and Dimensional Synthesis of a Novel 2-DOF Translational Parallel Robot for Pick-and-Place Operations , 2004 .

[16]  Xin-Jun Liu,et al.  Workspace atlases for the computer aided design of the Delta robot , 2003 .

[17]  R. Clavel,et al.  A Fast Robot with Parallel Geometry , 1988 .

[18]  Xin-Jun Liu,et al.  A New Approach to the Design of a DELTA Robot with a Desired Workspace , 2004, J. Intell. Robotic Syst..

[19]  Lung-Wen Tsai,et al.  A Parallel Manipulator with Only Translational Degrees of Freedom , 1997 .

[20]  Damien Chablat,et al.  Architecture optimization of a 3-DOF translational parallel mechanism for machining applications, the orthoglide , 2003, IEEE Trans. Robotics Autom..

[21]  Damien Chablat,et al.  An Interval Analysis Based Study for the Design and the Comparison of Three-Degrees-of-Freedom Parallel Kinematic Machines , 2004, Int. J. Robotics Res..

[22]  Alain Codourey,et al.  Dynamic modelling and mass matrix evaluation of the DELTA parallel robot for axes decoupling control , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[23]  Clément Gosselin,et al.  A Global Performance Index for the Kinematic Optimization of Robotic Manipulators , 1991 .