Hostname: page-component-586b7cd67f-t8hqh Total loading time: 0 Render date: 2024-11-23T22:46:57.207Z Has data issue: false hasContentIssue false
  • English
  • Français

Control distribution of partially decoupled multi-level manipulators with five DOFs

Published online by Cambridge University Press:  03 July 2015

M. Loizaga ,
O. Altuzarra ,
Ch. Pinto  and
V. Petuya
M. Loizaga
Affiliation:
Mechanical Engineering Department, University of the Basque Country UPV/EHU, Alameda de Urquijo s/n 48013 Bilbao, Spain
O. Altuzarra
Affiliation:
Mechanical Engineering Department, University of the Basque Country UPV/EHU, Alameda de Urquijo s/n 48013 Bilbao, Spain
Ch. Pinto
Affiliation:
Mechanical Engineering Department, University of the Basque Country UPV/EHU, Alameda de Urquijo s/n 48013 Bilbao, Spain
V. Petuya*
Affiliation:
Mechanical Engineering Department, University of the Basque Country UPV/EHU, Alameda de Urquijo s/n 48013 Bilbao, Spain
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

Multi-level manipulators are those mechanisms in which two or more levels, that define the main chain of the manipulator, are joined in parallel to each other. Besides, each level is linked to the base in parallel by some limbs. Based on the idea of multi-level manipulators and using the concept of plain leg surfaces, the synthesis of partially decoupled manipulators with five degrees of freedom is presented. Among the different possibilities that exist to design the main chain of the manipulator, one is selected and the different manipulators that can be obtained from this option are analyzed. The concept of control distribution per level is presented and compared with the distribution of degrees of freedom per level. Finally, each of the proposed manipulators is studied and those which decouple the rotations are chosen.

Keywords

SynthesisDecoupled controlMultiple platformsParallel manipulators
Type
Articles
Information
Robotica , Volume 35 , Issue 2 , February 2017 , pp. 337 - 353
Copyright
Copyright © Cambridge University Press 2015 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Huang, Z. and Li, Q. C., “General methodology for type synthesis of symmetrical lower-mobility parallel manipulators and several novel manipulators,” Int. J. Robot. Res. 21 (2), 145–190 (2002).Google Scholar
2. Joshi, S. A. and Tsai, L.-W., “Jacobian analysis of limited-dof parallel manipulators,” J. Mech. Des. 124, 254–258 (2002).CrossRefGoogle Scholar
3. Shayya, S., Krut, S., Company, O., Baradat, C. and Pierrot, F., “A Novel (3T-2R) Parallel Mechanism with Large Operational Workspace and Rotational Capability,” Proceedings of the 2014 IEEE International Conference on Robotics and Automation (2014) pp. 5712–5719.Google Scholar
4. Piccin, O., Bayle, B., Maurin, B. and de Mathelin, M., “Kinematic modeling of a 5-DOF parallel mechanism for semi-spherical workspace,” Mech. Mach. Theory 44 (8), 1485–1496 (2009).CrossRefGoogle Scholar
5. Caricato, M., “Fully-isotropic four degrees-of-freedom parallel mechanisms for Schöenflies motion,” Int. J. Robot. Res. 24, 397–414 (2005).CrossRefGoogle Scholar
6. Kong, X. and Gosselin, C., “Type synthesis of 3T1R 4-dof parallel manipulators based on screw theory,” IEEE Trans. Robot. Autom. 20 (2), 181–190 (2004).CrossRefGoogle Scholar
7. Zeng, Dx. and Huang, Z., “Type synthesis of the rotational decoupled parallel mechanism based on screw theory,” Sci. China-Technol. Sci. 54 (4), 998–1004 (2011).CrossRefGoogle Scholar
8. Hervé, J. M., “Analyse structurelle des mécanismes par groupe des déplacements,” Mech. Mach. Theory 13 (4), 437–450 (1978).CrossRefGoogle Scholar
9. Li, Q., Huang, Z. and Herve, J. M., “Type synthesis of 3R2T 5-DOF parallel mechanisms using the Lie group of displacements,” IEEE Trans. Robot. Autom. 20, 173–180 (2004).Google Scholar
10. Altuzarra, O., Sandru, B., Pinto, C. and Petuya, V., “A symmetric parallel Schönflies-motion manipulator for pick-and-place operations,” Robotica 29, 853–862 (2011).CrossRefGoogle Scholar
11. Hernandez, A., Ibarreche, J. I., Petuya, V. and Altuzarra, O., “Structural synthesis of 3-DoF spatial fully parallel manipulators,” Int. J. Adv. Robot. Syst. 11, (2014).CrossRefGoogle Scholar
12. Gogu, G., Structural Synthesis of Parallel Robots. Part 1: Methodology (Springer, Dordrecht, 2008).CrossRefGoogle Scholar
13. Gogu, G., Structural Synthesis of Parallel Robots. Part 2: Translational Topologies with Two and Three Degrees of Freedom (Springer, Dordrecht, 2009).Google Scholar
14. Gogu, G., “Parallel mechanisms with decoupled rotation of the moving platform in planar motion,” Proc. Inst. Mech. Eng. Part C-J. Mech. Eng. Sci. 224, 709–720 (2010).CrossRefGoogle Scholar
15. Gogu, G., “Maximally regular T2R1-type parallel manipulators with bifurcated spatial motion,” J. Mech. Robot. 3, pp. 011010–1 011010–8 (2011).CrossRefGoogle Scholar
16. Fang, Y. and Tsai, L-W., “Structure synthesis of a class of 4-dof and 5-dof parallel manipulators with identical limb structures,” Int. J. Robot. Res. 21 (9), 799–810 (2002).CrossRefGoogle Scholar
17. Huang, Z. and Li, Q. C., “On the Type Synthesis of Lower-Mobility Parallel Manipulators,” Proceedings Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec-Canada (2002) pp. 272–283.Google Scholar
18. Kong, X. and Gosselin, C., “Type synthesis of 3-dof spherical parallel manipulators based on screw theory,” J. Mech. Des. 126, 101–108 (20).CrossRefGoogle Scholar
19. Zhu, S. J. and Huang, Z., “Eighteen fully symmetrical 5-doF 3R2T parallel manipulators with better actuating modes,” Int. J. Adv. Manuf. Technol. 34 (3–4), 406–412 (2007).CrossRefGoogle Scholar
20. Guo, S., Fang, Y. F. and Qu, H. B., “Type synthesis of 4-dOF nonoverconstrained parallel mechanisms based on screw theory,” Robotica 30, 31–37 (2012).CrossRefGoogle Scholar
21. Company, O., Marquet, F. and Pierrot, F., “A new high-speed 4-DOF parallel robot synthesis and modeling issues,” IEEE Trans. Robot. Autom. 19 (3), 411–420 (2003).CrossRefGoogle Scholar
22. Company, O., Krut, S. and Pierrot, F., “Singularity analysis of a class of lower mobility parallel manipulators with articulated traveling plate,” IEEE Trans. Robot. 22 (1), 1–11 (2006).Google Scholar
23. Song, Y. M., Gao, H., Sun, T., Dong, G., Lian, B. B. and Qi, Y., “Kinematic analysis and optimal design of a novel 1T3R parallel manipulator with an articulated travelling plate,” Robot. Comput.-Integr. Manuf. 30 (5), 508–516 (2014).Google Scholar
24. Gogu, G., “Structural synthesis of fully-isotropic parallel robots with Schönflies motion via Theory of Linear Transformations and evolutionary morphology,” Eur. J. Mech. A-Solids 26, 242–269 (2007).Google Scholar
25. Gogu, G., “Structural synthesis of maximally regular T3R2-type parallel robots via Teory of Linear Transformations and evolutionary morphology,” Robotica 27 (1), 79–101 (2009).CrossRefGoogle Scholar
26. Kong, X. and Gosselin, C. M., “Kinematics and singularity analysis of a novel type of 3-CRR 3-DOF translational parallel manipulator,” Int. J. Robot. Res. 21 (9), 791–798 (2002).CrossRefGoogle Scholar
27. Kong, X., Gosselin, C. M., Foucault, S. and Bonev, I., “A Fully Decoupled 3-dof Translational Parallel Mechanism,” Parallel Kinematic Machines International Conference, (2004) pp. 595–610.Google Scholar
28. Richard, P.-L., Gosselin, C. M. and Kong, X., “Kinematic Analysis and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator,” Proceedings of the 2006 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Philadelphia, USA (2006).CrossRefGoogle Scholar
29. Kong, X. and Gosselin, C. M., “Type synthesis of 5-DOF parallel manipulators based on screw theory,” J. Robot. Syst. 22 (10), 535–347 (2005).CrossRefGoogle Scholar
30. Kong, X. and Gosselin, C., “Type Synthesis of Linear Translational Parallel Manipulators,” In: Advances in Robot Kinematics (Springer, Netherlands, 2002) pp. 453–462.CrossRefGoogle Scholar
31. Altuzarra, O., Loizaga, M. and Petuya, V., “Partially Decoupled Parallel Manipulators Based on Multiple Platforms,” Proceedings of the IFToMM World Congress, France (2007).Google Scholar
32. Altuzarra, O., Loizaga, M., Pinto, C. and Petuya, V., “Synthesis of partially decoupled multi-level manipulators with lower mobility,” Mech. Mach. Theory 45, 106–118 (2010).CrossRefGoogle Scholar
33. Rolland, L. and Chandra, R., “The forward kinematics of the 6-6 parallel manipulator using an evolutionary algorithm based on generalized generation gap with parent-centric crossover,” Robotica 32 (6), 1–22 (2014).Google Scholar
34. Chandra, R. and Rolland, L., “Global-local population memetic algorithm for solving the foward kinematics of parallel manipulators,” Connect. Sci. 27 (1), 22–39 (2015).Google Scholar
35. Kong, X. and Gosselin, C., “Type synthesis of 3T1R 4-dof parallel manipulators based on screw theory,” IEEE Trans. Robot. Autom. 20 (2), pp. 181–190 (2004).CrossRefGoogle Scholar