Continuous motion of a novel 3-CRC symmetrical parallel mechanism

Parallel mechanisms (PMs) with three degrees of freedom (DOFs) have been studied extensively, especially the PMs with two rotational and one translational DOFs (2R1T PMs). One major problem of the 2R1T PMs is the inherent parasitic motion. In this paper, a novel 2R1T symmetrical parallel mechanism with no parasitic motion is proposed and studied. The moving platform and the base of this mechanism are mirror symmetric with respect to a mid-plane. This moving platform can realize continuous rotation about any axis or any point on the mid-plane and can have continuous translation along the normal line of the mid-plane. The constraint and motion characteristics of this mechanism are analyzed. The kinematics solutions and the Jacobian matrix are derived. The singularities of this PM are discussed. In the end, several numerical examples are given to show the continuous rotations and continuous translations of this PM. This kind of PMs has outstanding advantages of easy path planning and controlling.

[1]  Lung-Wen Tsai,et al.  Kinematics of A Three-Dof Platform with Three Extensible Limbs , 1996 .

[2]  Clément Gosselin,et al.  Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator , 2000 .

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

[4]  Ilian A. Bonev.  Direct kinematics of zero-torsion parallel mechanisms , 2008, 2008 IEEE International Conference on Robotics and Automation.

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

[6]  Qinchuan Li,et al.  Parasitic motion comparison of 3-PRS parallel mechanism with different limb arrangements , 2011 .

[7]  C. Gosselin,et al.  Type Synthesis of 3-DOF Spherical Parallel Manipulators Based on Screw Theory , 2004 .

[8]  Jian S. Dai,et al.  Geometry and Constraint Analysis of the Three-Spherical Kinematic Chain Based Parallel Mechanism , 2010 .

[9]  Yuefa Fang,et al.  Structure Synthesis of a Class of 4-DoF and 5-DoF Parallel Manipulators with Identical Limb Structures , 2002, Int. J. Robotics Res..

[10]  G. Gogu,et al.  Fully-isotropic Three-degree-of-freedom Parallel Wrists , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[11]  Xin-Jun Liu,et al.  A 3-DOF parallel manufacturing module and its kinematic optimization , 2012 .

[12]  Raffaele Di Gregorio.  A new family of spherical parallel manipulators , 2002, Robotica.

[13]  K. H. Hunt,et al.  Structural Kinematics of In-Parallel-Actuated Robot-Arms , 1983 .

[14]  K. H. Hunt.  Constant-Velocity Shaft Couplings: A General Theory , 1973 .

[15]  Ernesto Rodriguez-Leal,et al.  Kinematic analysis of the 3-CUP parallel mechanism , 2013 .

[16]  Zhen Huang,et al.  Axodes Analysis of the Multi DOF Parallel Mechanisms and Parasitic Motion , 2013 .

[17]  Grigore Gogu.  Structural synthesis of parallel robots. , 2008 .

[18]  Mourad Karouia,et al.  Non-overconstrained 3-dof spherical parallel manipulators of type: 3-RCC, 3-CCR, 3-CRC , 2005, Robotica.

[19]  Zhen Huang,et al.  Study on the kinematic characteristics of 3 DOF in-parallel actuated platform mechanisms , 1996 .

[20]  Yuefa Fang,et al.  Analytical Identification of Limb Structures for Translational Parallel Manipulators , 2004 .

[21]  Haitao Liu,et al.  Design of a 3-DOF PKM module for large structural component machining , 2010 .

[22]  Chao Wu,et al.  A new family of spatial 3-DOF parallel manipulators with two translational and one rotational DOFs , 2009, Robotica.

[23]  Carlo U. Galletti.  J.Lenarcic and V. Parenti Castelli(eds), Recent Advances in Robot Kinematics , 1997 .

[24]  Xianwen Kong,et al.  Type Synthesis of 3-DOF Translational Parallel Manipulators Based on Screw Theory , 2004 .

[25]  Zhang Jianjun,et al.  R-CUBE, a decoupled parallel manipulator only with revolute joints , 2005 .

[26]  Zhen Huang,et al.  A 3DOF Rotational Parallel Manipulator Without Intersecting Axes , 2010 .

[27]  G. R. Dunlop,et al.  Position analysis of a 3-DOF parallel manipulator , 1997 .

[28]  Qinchuan Li,et al.  1T2R Parallel Mechanisms Without Parasitic Motion , 2010, IEEE Transactions on Robotics.

[29]  Sébastien Briot,et al.  Singularity analysis of zero-torsion parallel mechanisms , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[30]  Xin-Jun Liu.  Optimal kinematic design of a three translational DoFs parallel manipulator , 2006, Robotica.

[31]  Kok-Meng Lee,et al.  Kinematic analysis of a three-degrees-of-freedom in-parallel actuated manipulator , 1988, IEEE J. Robotics Autom..

[32]  Xiaochuan Luo,et al.  Research on the theory and the virtual prototype of 3-DOF parallel-link coordinate-measuring machine , 2001, IMTC 2001. Proceedings of the 18th IEEE Instrumentation and Measurement Technology Conference. Rediscovering Measurement in the Age of Informatics (Cat. No.01CH 37188).

[33]  P. C. Hughes,et al.  KINEMATIC ANALYSIS OF A GENERAL DOUBLE-TRIPOD PARALLEL MANIPULATOR , 1998 .