A 3-DOF quick-action parallel manipulator based on four linkage mechanisms with high-speed cam

Abstract

Quick-action mechanisms are always favoured in industrial applications because of its high efficiency. To pursue the high stiffness, low inertia and large payload capacity of the quick-action mechanism, this paper proposes a 1T2R 3-DOF quick-action parallel manipulator, which is developed based on four linkage mechanisms with high-speed cam. The cam is designed by using a 7th degree polynomial curve having high-speed motion. Based on this cam, a quick action linkage mechanism is proposed to realize a fast-out and a slow-back motion. Then kinematics and static forces of this linkage mechanism during the motions are analyzed, and its corresponding dynamics model is constructed. By arranging four linkage mechanisms in a way of quadrantal symmetry, a quick action parallel manipulator is capable of realizing three types of movements. Position and first-order kinematics of this manipulator are analyzed to illustrate its motion characteristics. Finally, the quick action linkage mechanism is validated by simulating a fixed trajectory of the end-effector in both two phases, and the parallel manipulator is validated by showing the simulation results of its output actions and the joint parameters during the movements. These analysis and validations show that both the proposed linkage mechanism and the 1T2R parallel manipulator have quite a few potential applications to enhance production efficiency and save energy.