Architecture optimisation of three 3- P RS variants for parallel kinematic machining

The [email protected]?RS parallel manipulator has recently been prototyped as a machining centre. PRS denotes the prismatic-revolute-spherical architecture of each limb where only the prismatic joint is actuated and hence underlined. Three variations of this manipulator have been independently presented in the literature. The architectural parameters affecting the size of the dexterous workspace volume are identified for each of the three models. The influence of these parameters on each of the three models is studied. Next, the manipulators' dexterity is defined as the architecture's ability to lend stiffness and accuracy to the machine tool. By studying the singular values and condition number of a newly developed square, dimensionally homogeneous Jacobian matrix, regions of the workspace corresponding to capabilities for high end effector (EE) velocities in each of the degrees of freedom (DOF) are identified. Optimisation of the architectural parameters is then completed to provide the largest possible size for this region. The dexterous workspace size, obtained using optimal architectural parameters unique to each variant, is then compared between each of the three variants of the [email protected]?RS manipulator.

[1]  Chan-Kyoung Park,et al.  Design Optimization for Suspension System of High Speed Train Using Neural Network , 2003 .

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

[3]  C. Gosselin.  The optimum design of robotic manipulators using dexterity indices , 1992, Robotics Auton. Syst..

[4]  D. Stewart,et al.  A Platform with Six Degrees of Freedom , 1965 .

[5]  Subir Kumar Saha,et al.  Dimensional design of hexaslides for optimal workspace and dexterity , 2005, IEEE Transactions on Robotics.

[6]  Panos S. Shiakolas,et al.  On the Optimum Synthesis of Six-Bar Linkages Using Differential Evolution and the Geometric Centroid of Precision Positions Technique , 2005 .

[7]  Oscar Altuzarra,et al.  Point-based Jacobian formulation for computational kinematics of manipulators , 2006 .

[8]  Marco Carricato,et al.  Singularity-Free Fully-Isotropic Translational Parallel Mechanisms , 2002, Int. J. Robotics Res..

[9]  T. Shiau,et al.  Direct kinematic analysis of a 3-PRS parallel mechanism , 2003 .

[10]  Jorge Angeles,et al.  Fundamentals of Robotic Mechanical Systems , 2008 .

[11]  Jean-Pierre Merlet,et al.  Micro parallel robot MIPS for medical applications , 2001, ETFA 2001. 8th International Conference on Emerging Technologies and Factory Automation. Proceedings (Cat. No.01TH8597).

[12]  Clément Gosselin,et al.  Development and Experimentation of a Fast 3-DOF Camera-Orienting Device , 1997, Int. J. Robotics Res..

[13]  Jeha Ryu,et al.  New dimensionally homogeneous Jacobian matrix formulation by three end-effector points for optimal design of parallel manipulators , 2003, IEEE Trans. Robotics Autom..

[14]  Tian Huang,et al.  The Local Dexterity, Optimal Architecture and Design Criteria of Parallel Machine Tools , 1998 .

[15]  J. A. Carretero,et al.  Formulating Jacobian matrices for the dexterity analysis of parallel manipulators , 2006 .

[16]  Kuang-Chao Fan,et al.  Sensitivity analysis of the 3-PRS parallel kinematic spindle platform of a serial-parallel machine tool , 2003 .

[17]  Kuang-Chao Fan,et al.  Identification of strut and assembly errors of a 3-PRS serial-parallel machine tool , 2004 .

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

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