Design and analysis of a novel parallel manipulator for pick-and-place applications

被引：8
|
作者：
Liao, Bin [1 ,2 ]
Lou, Yunjiang [1 ,2 ]
Li, Zhibin [3 ]
Shi, Jinbo [4 ,5 ]
Chen, Xin [6 ]
机构：
[1] Harbin Inst Technol, Shenzhen Engn Lab Ind Robots & Syst, Shenzhen Key Lab Adv Mot Control & Modern Automat, Harbin Inst Technol,Shenzhen Grad Sch, HIT Campus, Shenzhen 518055, Peoples R China
[2] Harbin Inst Technol, Shenzhen Grad Sch, Harbin Inst Technol, State Key Lab Robot & Syst, HIT Campus, Shenzhen 518055, Peoples R China
[3] Shenzhen Polytech, Sch Mech & Elect Engn, Shenzhen 518055, Peoples R China
[4] Dongguan QKM Automat Co, Dongguan, Peoples R China
[5] State Key Lab Mech Syst & Vibrat, Shanghai, Peoples R China
[6] Guangdong Univ Technol, Sch Electromech Engn, Guangzhou, Guangdong, Peoples R China
来源：
MECCANICA | 2016年 / 51卷 / 07期
基金：
中国国家自然科学基金;
关键词：
Parallel manipulator; Kinematics; Pick-and-place; Workspace; Singularity; Co-axis; KINEMATIC ANALYSIS;
D O I：
10.1007/s11012-015-0249-2
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
This paper presents a novel 4 degree-of-freedom Schonflies-motion parallel manipulator, which is an upgraded design of a 3 degree-of-freedom planar parallel manipulator. The manipulator consists of three identical (: a revolute joint, : a planar parallelogram) and one subchain. The three actuated joints, the first revolute joints, of subchains are designed to have a common rotation axis, and the actuated joint (the second joint) axis of the subchain is perpendicular to the common rotation axis. This architecture contributes large rotationally-symmetric workspace and unlimited rotational capability of the end-effector. The fundamental demerit of typical parallel manipulators, limited workspace, is completely removed. In this paper, the loop-closure equations are derived. The inverse and forward kinematics and singularity analysis are discussed. An algebraic derivation of the dextrous workspace is presented.
引用
收藏
页码：1595 / 1606
页数：12
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