Abstract
Abstract. With the requirement of heavy load for pick-and-place operation, a new 3-DoF asymmetric translational parallel manipulator is invented in this paper. This manipulator is assembled by a kinematic limb with the parallel linear motion elements(PLMEs), and a single loop 2-UPR. Owning to the linear actuators directly connecting the moving and the fixed platforms, this parallel manipulator has high force transmission efficiency, and adapts to pick-and-place operation under heavy load. In this paper, the mobility and singularity are firstly analyzed by screw theory. And the simplified kinematic and dynamic model is established and solved. Secondly, the reaction forces of the prismatic joints in the PLMEs limb are investigated for the mechanism design. Also, the overall performance of the whole manipulator, such as the workspace, condition numbers of Jacobian matrices and motion transmission, etc, are discussed. Thirdly, a compound evaluation function, which involves the factors of workspace volume, transmission efficiency and reaction force, is proposed. In order to obtain a set of better design parameters, the optimization of the 3-DoF translational manipulator is conducted, for the object of maximum of the evaluation function. At last, the prototype is manufactured and experimented to validate the mobility and motion feasibility of this mechanism design.
Highlights
As the need of the industry for 3-DoF translational parallel mechanisms(TPM) in the late 1990s, many these kinds of parallel mechanisms have been researched and developed
Several approaches for the type synthesis of TPMs were investigated, such as methods based on screw theory (Mohamed et al, 1985; Lee et al, 1999; Zhao et al, 2002; Bonev et al, 2003; Huang and Li, 2003; Kong and Gosselin, 2004a; Dai, 2006, 2014; Dai et al, 2006; Wu et al, 2010; Zhao et al, 2017), displacement group theory (Hervé, 1999; Lee et al, 2009), position and orientation characteristic (POC) sets (Yang et al, 2009), generalized function (GF) sets (Gao et al, 2011) and etc
A number of novel TPMs were invented by Tsai and Joshi (2000); Chablat and Wenger (2003); Liu et al (2003); Kong and Gosselin (2004b); Jin and Yang (2004); Gogu (2008); Yang et al (2019) and et al And the kinematics, dynamics, singularities, stiffness, workspaces for the 3-DOF TPMs were contributed by Carricato and Parenti-Castelli (2002); Li and Xu (2008); Liu et al (2017); Kong and Gosselin (2002); Li et al (2015); Zhang et al (2017), amongst others
Summary
As the need of the industry for 3-DoF translational parallel mechanisms(TPM) in the late 1990s, many these kinds of parallel mechanisms have been researched and developed. Inspired by the above scholars’ achievements, we propose a new 3-DoF translational manipulator by combining of PLMEs limb and single loop 2UPR (Peng et al, 2018) This kind of manipulator has advantage of better transmission and simpler structure than other 3-DoF TPMs. The rest of the paper is organized as follows.
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