SYNTHESIS OF A NOVEL FIVE-DEGREES–OF-FREEDOM PARALLEL KINEMATIC MANIPULATOR

Wesley Emile Dharmalingum,Jared Padayachee,Glen Bright

doi:10.7166/32-1-2382

Wesley Emile Dharmalingum, Jared Padayachee + Show 1 more

Open Access

https://doi.org/10.7166/32-1-2382

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Abstract

This paper presents the design and analysis of a novel five degrees-of- freedom (DOF) parallel kinematic manipulator (PKM) for part-handling, sorting, general positioning, and robotic machining applications. The 2- R(Pa-IQ)RR, R(Pa-IQ)R manipulator has two rotational DOFs, one parasitic rotation, and three translational DOFs. In comparison with other 5- and 6- DOF PKMs, this PKM possesses three pairs of coplanar legs that contain nested kinematic chains, and it makes exclusive use of revolute and prismatic joints. The inverse kinematic analysis is a novel extension of the geometric (vector) method with the analysis of inner and outer kinematic chains. The forward kinematic analysis was solved using the Newton Raphson (NR) method. The results of the forward and inverse kinematic analyses were validated with SolidWorks ® and MATLAB ® simulations.

Highlights

In recent decades, there has been much interest, and there have been significant advancements, in the field of parallel kinematic manipulators (PKMs)
This paper presents the design and analysis of a novel five degrees-offreedom (DOF) parallel kinematic manipulator (PKM) for part-handling, sorting, general positioning, and robotic machining applications
The design was based on the Stewart platform, and the results showed that the PKM could manipulate shapes in space with minimal sensing

Summary

Introduction

There has been much interest, and there have been significant advancements, in the field of parallel kinematic manipulators (PKMs). They have been adopted in industry for tasks such as positioning, pick–and-place operations, motion simulation, machining tasks, and medical operations [1]. A PKM is defined as a robotic system that has two or more closed-loop kinematic chains. PKMs exhibit higher mechanical stiffness and lower inertia than serial architectures [1]. They are capable of a high payload–to-weight ratio; PKMs generally have smaller workspaces than serial robots. The forward kinematic analysis, in particular, generally leads to nonlinear equations that require the use of numerical methods to solve [2]

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