A class of novel 2T2R and 3T2R parallel mechanisms with large decoupled output rotational angles

Abstract This article focuses on the synthesis and analysis of a class of novel 2T2R (T denotes Translation and R denotes Rotation) and 3T2R parallel mechanisms (PMs) with large decoupled output rotational angles. Two articulated moving platforms (AMPs) composed by revolute joints are proposed. A common parallelogram and an evolution parallelogram which are used to orient the rotation axes of the AMPs are designed and analyzed. By means of Lie group theory, the limbs connected in the AMPs are enumerated and two types of 2T2R PMs are synthesized. Then, based on the proposed 2T2R PMs, a family of 3T2R PMs are obtained through adding a translational degree of freedom (DOF). The fact that the orthogonal arrangement of the revolute joints in the AMPs eliminates the interference between the two rotations guarantees the high rotational performance of the manipulators. Finally, the inverse kinematics of the example PM is conducted and the workspace is obtained to illustrate the high rotational capability.

[1]  Congzhe Wang,et al.  Novel 2R3T and 2R2T parallel mechanisms with high rotational capability , 2017, Robotica.

[2]  Qi Yang,et al.  Kinematic analysis and optimal design of a novel 1T3R parallel manipulator with an articulated travelling plate , 2014 .

[3]  Congzhe Wang,et al.  Design and Analysis of 3R2T and 3R3T Parallel Mechanisms With High Rotational Capability , 2016 .

[4]  Hongzhao Liu,et al.  Type synthesis of 2T2R, 1T2R and 2R parallel mechanisms , 2013 .

[5]  Congzhe Wang,et al.  Design and Kinematical Performance Analysis of a 3-RUS/RRR Redundantly Actuated Parallel Mechanism for Ankle Rehabilitation , 2013 .

[6]  Clément Gosselin,et al.  Design and analysis of kinematically redundant parallel manipulators with configurable platforms , 2005, IEEE Transactions on Robotics.

[7]  Bernard Bayle,et al.  Kinematic modeling of a 5-DOF parallel mechanism for semi-spherical workspace , 2009 .

[8]  Z. Huang,et al.  Type Synthesis of Symmetrical Lower-Mobility Parallel Mechanisms Using the Constraint-Synthesis Method , 2003, Int. J. Robotics Res..

[9]  Il Hong Suh,et al.  Design of a Parallel-Type Gripper Mechanism , 2002, Int. J. Robotics Res..

[10]  G. Gogu.  Structural synthesis of fully-isotropic parallel robots with Schönflies motions via theory of linear transformations and evolutionary morphology , 2007 .

[11]  Yuefa Fang,et al.  Structural synthesis and analysis of serial–parallel hybrid mechanisms with spatial multi-loop kinematic chains , 2012 .

[12]  Chung-Ching Lee,et al.  Parallel mechanisms generating 3-DoF finite translation and (2 or 1)-DoF infinitesimal rotation , 2012 .

[13]  Yimin Song,et al.  Topology Synthesis of a 1-Translational and 3-Rotational Parallel Manipulator With an Articulated Traveling Plate. , 2015, Journal of mechanisms and robotics.

[14]  J. M. Hervé,et al.  Translational parallel manipulators with doubly planar limbs , 2006 .

[15]  J. M. Hervé.  The Lie group of rigid body displacements, a fundamental tool for mechanism design , 1999 .

[16]  J. M. Hervé,et al.  Asymmetrical three-DOFs rotational-translational parallel-kinematics mechanisms based on lie group theory , 2006 .

[17]  Xin-Jun Liu,et al.  A new family of spatial 3-DoF fully-parallel manipulators with high rotational capability , 2005 .

[18]  Kornel Ehmann,et al.  Design of parallel hybrid-loop manipulators with kinematotropic property and deployability , 2014 .

[19]  Michel Benoit,et al.  I4: A new parallel mechanism for Scara motions , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[20]  J. M. Hervé,et al.  Displacement manifold method for type synthesis of lower-mobility parallel mechanisms , 2004 .

[21]  E. Amezua,et al.  A Parallelogram-Based Parallel Manipulator for Schönflies Motion , 2006 .

[22]  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..

[23]  Xin-Jun Liu,et al.  Some New Parallel Mechanisms Containing the Planar Four-Bar Parallelogram , 2003, Int. J. Robotics Res..

[24]  Andrés Kecskeméthy,et al.  Automatic Structural Synthesis of the Whole Family of Planar 3-Degrees of Freedom Closed Loop Mechanisms , 2013 .

[25]  Zhen Huang,et al.  Singularity analysis for six practicable 5-DoF fully-symmetrical parallel manipulators , 2009 .

[26]  Qing Hua Qin,et al.  Effect of the Orientation of Hexagonal Fibers on the Effective Elastic Properties of Unidirectional Composites , 2018 .

[27]  A. Hernández,et al.  Synthesis and Design of a Novel 3T1R Fully-Parallel Manipulator , 2008 .

[28]  Just L. Herder,et al.  Kinematic Design of Two Elementary 3DOF Parallel Manipulators with Configurable Platforms , 2014 .

[29]  Sébastien Krut,et al.  Par4: very high speed parallel robot for pick-and-place , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

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

[31]  J. Dai,et al.  Type synthesis of a class of spatial lower-mobility parallel mechanisms with orthogonal arrangement based on Lie group enumeration , 2010 .

[32]  Jian S. Dai,et al.  Sprained Ankle Physiotherapy Based Mechanism Synthesis and Stiffness Analysis of a Robotic Rehabilitation Device , 2004, Auton. Robots.

[33]  Philippe Poignet,et al.  Optimal Design of a 4-DOF Parallel Manipulator: From Academia to Industry , 2009, IEEE Transactions on Robotics.

[34]  François Pierrot,et al.  A new high-speed 4-DOF parallel robot synthesis and modeling issues , 2003, IEEE Trans. Robotics Autom..

[35]  Ziming Chen,et al.  Structural synthesis of two-layer and two-loop spatial mechanisms with coupling chains , 2015 .

[36]  Yaming Wang,et al.  Sparse Approximation for Nonrigid Structure from Motion , 2015, J. Robotics.

[37]  J. Dai,et al.  Geometric synthesis of spatial parallel manipulators with fewer than six degrees of freedom , 2002 .