Hostname: page-component-586b7cd67f-g8jcs Total loading time: 0 Render date: 2024-11-27T23:22:06.268Z Has data issue: false hasContentIssue false
  • English
  • Français

Static Characteristic Analysis of Spatial (Non-Planar) Links in Planar Parallel Manipulator

Published online by Cambridge University Press:  06 May 2020

M. Ganesh Open the ORCID record for M. Ganesh [Opens in a new window] ,
Anjan Kumar Dash ,
P. Venkitachalam  and
S. Shrinithi
M. Ganesh*
Affiliation:
School of Mechanical Engineering, SASTRA University, Thanjavur 613 402, India. E-mails: [email protected], [email protected], [email protected]
Anjan Kumar Dash
Affiliation:
School of Mechanical Engineering, SASTRA University, Thanjavur 613 402, India. E-mails: [email protected], [email protected], [email protected]
P. Venkitachalam
Affiliation:
School of Mechanical Engineering, SASTRA University, Thanjavur 613 402, India. E-mails: [email protected], [email protected], [email protected]
S. Shrinithi
Affiliation:
School of Mechanical Engineering, SASTRA University, Thanjavur 613 402, India. E-mails: [email protected], [email protected], [email protected]
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

Conventional planar manipulators have their links in a single plane. Increasing payload at the end effector/mobile platform can induce high stress in the links due to the cantilever nature of links. Thus, it limits the total vertical load that can be applied on the mobile platform. In contrast to the links in conventional planar parallel mechanisms, non-planar links are proposed in this paper, that is, links are made inclined to the horizontal plane and non-planar legs are constructed. Though the links are made non-planar, the end effectors’ planar motion is retained. For studying the application of such non-planar links in planar manipulators, new models of inertia, stiffness and leg dynamics have to be developed. In this article, these models are developed by the static analysis of the planar manipulators with non-planar links, and the performance is compared with the corresponding conventional planar manipulators.

Keywords

3-R̄RR planar parallel robotMoment of InertiaStiffness analysis and optimization
Type
Articles
Information
Robotica , Volume 39 , Issue 1 , January 2021 , pp. 88 - 106
Copyright
Copyright © The Author(s) 2020. Published by Cambridge University Press

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

Gosselin, C., Kinematic Analysis, Optimization and Programming of Parallel Robotic Manipulators (McGill University, Montréal, Canada, 1988).Google Scholar
Kang, B., Chu, J. and Mills, J. K., “Design of High Speed Planar Parallel Manipulator and Multiple Simultaneous Specification Control,” Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation, vol. 3 (2001) pp. 2723–2728.Google Scholar
Merlet, J.-P., Gosselin, C. M. and Mouly, N., “Workspace of planar parallel manipulators,” Mech. Mach. Theory 33(1–2), 7–20 (1998).CrossRefGoogle Scholar
Gosselin, C. M. and Martin, J., “Determination of the workspace of planar parallel manipulators with joint limits,” Rob. Auton. Syst. 17(3), 129–138 (1996).CrossRefGoogle Scholar
Merlet, J. P., “Direct kinematics of planar parallel manipulators,” Proc. IEEE Int. Conf. Rob. Autom. 4, 3744–3749 (1996).Google Scholar
Yu, H., Li, B., Yang, X. and Hu, Y., “Structural synthesis and variation analysis of a family of 6-DoF parallel mechanisms with three limbs,” Int. J. Rob. Autom. 25(2), 121 (2010).Google Scholar
Pennock, G. R. and Kassner, D. J., “Kinematic analysis of a planar eight-bar linkage: Application to a platform-type robot,” J. Mech. Des. 114(1), 87–95 (1992).CrossRefGoogle Scholar
Chablat, D. and Wenger, P., “The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator,” CISM-IFToMM Symposium on Robot Design, Dynamics and Control, Montreal (2004).Google Scholar
Chablat, D., Wenger, P. and Angeles, J., “Working Modes and Aspects in Fully-Parallel Manipulators,” IEEE International Conference on Robotics and Automation (1998) pp. 1964–1969.Google Scholar
Hunt, K. H., “Structural kinematics of in-parallel-actuated robot-arms,” J. Mech. Trans. Autom. Des. 105(4), 705–712 (1983).CrossRefGoogle Scholar
Daniali, M. H. R. and Angeles, J., “Singularity analysis of planar parallel manipulators,” Mech. Mach. Theory 30(5), 665–678 (1995).CrossRefGoogle Scholar
Rizk, R., Munteanu, M., Fauroux, J. and Gogu, G., “A Semi-analytical Stiffness Model of Parallel Robots from the Isoglide Family via the Sub-structuring Principle,” Proceedings of 12th IFToMM World Congress (2007)Google Scholar
Arsenault, M. and Boudreau, R., “The synthesis of three-degree-of-freedom planar parallel mechanisms with revolute joints (3-RRR) for an optimal, singularity-free workspace,” J. Rob. Sys. 21(5), 259–274 (2004).CrossRefGoogle Scholar
Gao, F., Liu, X.-J. and Chen, X., “The relationships between the shapes of the workspaces and the link lengths of 3-DOF symmetrical planar parallel manipulators,” Mech. Mach. Theory 36(2), 205–220 (2001).CrossRefGoogle Scholar
Gosselin, C. M. and Angeles, J., “The optimal kinematic design of a planar three-degree-of-freedom parallel manipulator,” J. Mech. Trans. Autom. 110(3), 35–41 (1988).CrossRefGoogle Scholar
Alici, G. and Shirinzadeh, B.. “Optimum dynamic balancing of planar parallel manipulators based on sensitivity analysis,” Mech. Mach. Theory 41(12), 1520–1532 (2006).CrossRefGoogle Scholar
Clement, G., “Stiffness mapping for parallel manipulators,” IEEE Trans. Rob. Autom. 6(3), 377–382 (1990).Google Scholar
Wang, J., Wu, C. and Liu, X.-J., “Performance evaluation of parallel manipulators: Motion/force transmissibility and its index,” Mech. Machine Theory 4510 (2010), 1462–1476.CrossRefGoogle Scholar
El-Khasawneh, B. S. and Ferreira, P. M., “Computation of stiffness and stiffness bounds for parallel link manipulators,” Int. J. Mach. Tools Manuf. 39(2), 321–342 (1999).CrossRefGoogle Scholar
Pashkevich, A., Klimchik, A. and Chablat, D., “Enhanced stiffness modeling of manipulators with passive joints,” Mech. Mach. Theory 46(5), 662–679 (2011).CrossRefGoogle Scholar
Lu, Y., Yu, J. J., Chen, L. W., Zhang, X. L., Han, J. D. and Sui, C. P., “Stiffness and elastic deformation of a 3-leg 5-dof parallel manipulator with one composite leg,” Int. J. Rob. Autom. 29(1), 23–31 (2014).Google Scholar
Nagai, K. and Liu, Z., “A Systematic Approach to Stiffness Analysis of Parallel Mechanisms,” IEEE International Conference on Robotics and Automation, ICRA 2008 (2008) pp. 1543–1548.Google Scholar
Tsai, L. W., Robot Analysis: The Mechanics of Serial and Parallel Manipulators (John Wiley & Sons, New York, 1999).Google Scholar
Klimchik, A., Pashkevich, A., Caro, S. and Chablat, D. “Stiffness matrix of manipulators with passive joints: Computational aspects,” IEEE Trans. Rob. 28(4), 955–958 (2011).Google Scholar
Anson, M., Aliakbar, A. and Venkat, K., “Orientation workspace and stiffness optimization of cable-driven parallel manipulators with base mobility,” J. Mech. Rob. 9(3), 031011 (2017).CrossRefGoogle Scholar
Marler, R. T. and Arora, J. S., “Survey of multi-objective optimization methods for engineering,” Struct. Multidiscip. Optim. 26(6), 369–395 (2004).CrossRefGoogle Scholar
Zhao, J.-S., Chu, F. and Feng, Z.-J., “Symmetrical characteristics of the workspace for spatial parallel mechanisms with symmetric structure,” Mech. Mach. Theory 43(4), 427–444 (2008).CrossRefGoogle Scholar
Zhao, J. S., Feng, Z., Chu, F. and Ma, N.. Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms (Academic Press, 2013).Google Scholar