Type synthesis of 4-DOF nonoverconstrained parallel mechanisms based on screw theory

A systematic method is developed for the type synthesis of 4-DOF nonoverconstrained parallel mechanisms with three translations and one rotation inspired by the design of H-4. First, the motion requirements of primary platform and secondary platform of the 4-DOF nonoverconstrained parallel mechanisms are analyzed, and the conflict between the number of actuators and the constraint system for nonoverconstrained parallel mechanism is solved. Then, the research topic of type synthesis of 4-DOF nonoverconstrained parallel mechanisms is transformed into the type synthesis of the secondary platform with three translational DOF linked by two chains. On the basis of the screw and reciprocal theory, all possible secondary limbs with 3-DOF, 4-DOF, and 5-DOF are synthesized, respectively. Finally, the configurations and spatial assembly conditions of all possible secondary limbs are provided and some typical mechanisms are sketched as examples.

[1]  Jorge Angeles,et al.  Kinetostatic Design of an Innovative Schönflies-Motion Generator , 2006 .

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

[3]  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..

[4]  Z. Huang,et al.  Some Novel Lower-Mobility Parallel Mechanisms , 2002 .

[5]  Hui Zhao,et al.  New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs , 2002 .

[6]  Sébastien Krut,et al.  A high-speed parallel robot for Scara motions , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[7]  Sébastien Krut,et al.  Internal singularity analysis of a class of lower mobility parallel manipulators with articulated traveling plate , 2006, IEEE Transactions on Robotics.

[8]  O. Company,et al.  H4: a new family of 4-DOF parallel robots , 1999, 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No.99TH8399).

[9]  Clément Gosselin,et al.  Type synthesis of 3T1R 4-DOF parallel manipulators based on screw theory , 2004, IEEE Transactions on Robotics and Automation.

[10]  Q. C. Li,et al.  General Methodology for Type Synthesis of Symmetrical Lower-Mobility Parallel Manipulators and Several Novel Manipulators , 2002, Int. J. Robotics Res..

[11]  Luc Rolland,et al.  The Manta and the Kanuk: Novel 4-DOF Parallel Mechanisms for Industrial Handling , 1999, Dynamic Systems and Control.

[12]  Yuefa Fang,et al.  Enumeration of a class of overconstrained mechanisms using the theory of reciprocal screws , 2004 .

[13]  J. Fauroux,et al.  Evaluation of a 4-Degree of Freedom Parallel Manipulator Stiffness , 2003 .

[14]  Yuefa Fang,et al.  Analytical Identification of Limb Structures for Translational Parallel Manipulators , 2004, J. Field Robotics.

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

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

[17]  Jorge Angeles,et al.  The mechanical design of a novel Schönflies-motion generator , 2007 .

[18]  J. Angeles.  The Qualitative Synthesis of Parallel Manipulators , 2004 .

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

[20]  Qiong Jin,et al.  Structure Synthesis of Parallel Manipulators With 3-Dimension Translation and 1-Dimension Rotation , 2002 .