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

Bin Liao; Yunjiang Lou; Zhibin Li; Jinbo Shi; Xin Chen

doi:10.1007/s11012-015-0249-2

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

Bin Liao
, Yunjiang Lou^*
, Zhibin Li
, Jinbo Shi
, Xin Chen

^*Corresponding author for this work

Harbin Institute of Technology Shenzhen
Shenzhen Polytechnic
Dongguan QKM Automation Company
Shanghai Jiao Tong University
Guangdong University of Technology

Research output: Contribution to journal › Article › peer-review

10 Scopus citations

Abstract

This paper presents a novel 4 degree-of-freedom Schönflies-motion parallel manipulator, which is an upgraded design of a 3 degree-of-freedom planar parallel manipulator. The manipulator consists of three identical RRP_aR (R: a revolute joint, P_a: a planar parallelogram) and one RRRRR subchain. The three actuated joints, the first revolute joints, of RRP_aR subchains are designed to have a common rotation axis, and the actuated joint (the second R joint) axis of the RRRRR 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.

Original language	English
Pages (from-to)	1595-1606
Number of pages	12
Journal	Meccanica
Volume	51
Issue number	7
DOIs	https://doi.org/10.1007/s11012-015-0249-2
State	Published - 1 Jul 2016
Externally published	Yes

Keywords

Co-axis
Kinematics
Parallel manipulator
Pick-and-place
Singularity
Workspace

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10.1007/s11012-015-0249-2

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title = "Design and analysis of a novel parallel manipulator for pick-and-place applications",

abstract = "This paper presents a novel 4 degree-of-freedom Sch{\"o}nflies-motion parallel manipulator, which is an upgraded design of a 3 degree-of-freedom planar parallel manipulator. The manipulator consists of three identical RRPaR (R: a revolute joint, Pa: a planar parallelogram) and one RRRRR subchain. The three actuated joints, the first revolute joints, of RRPaR subchains are designed to have a common rotation axis, and the actuated joint (the second R joint) axis of the RRRRR 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.",

keywords = "Co-axis, Kinematics, Parallel manipulator, Pick-and-place, Singularity, Workspace",

author = "Bin Liao and Yunjiang Lou and Zhibin Li and Jinbo Shi and Xin Chen",

note = "Publisher Copyright: {\textcopyright} 2015, Springer Science+Business Media Dordrecht.",

year = "2016",

month = jul,

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doi = "10.1007/s11012-015-0249-2",

language = "英语",

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TY - JOUR

T1 - Design and analysis of a novel parallel manipulator for pick-and-place applications

AU - Liao, Bin

AU - Lou, Yunjiang

AU - Li, Zhibin

AU - Shi, Jinbo

AU - Chen, Xin

PY - 2016/7/1

Y1 - 2016/7/1

N2 - This paper presents a novel 4 degree-of-freedom Schönflies-motion parallel manipulator, which is an upgraded design of a 3 degree-of-freedom planar parallel manipulator. The manipulator consists of three identical RRPaR (R: a revolute joint, Pa: a planar parallelogram) and one RRRRR subchain. The three actuated joints, the first revolute joints, of RRPaR subchains are designed to have a common rotation axis, and the actuated joint (the second R joint) axis of the RRRRR 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.

AB - This paper presents a novel 4 degree-of-freedom Schönflies-motion parallel manipulator, which is an upgraded design of a 3 degree-of-freedom planar parallel manipulator. The manipulator consists of three identical RRPaR (R: a revolute joint, Pa: a planar parallelogram) and one RRRRR subchain. The three actuated joints, the first revolute joints, of RRPaR subchains are designed to have a common rotation axis, and the actuated joint (the second R joint) axis of the RRRRR 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.

KW - Co-axis

KW - Kinematics

KW - Parallel manipulator

KW - Pick-and-place

KW - Singularity

KW - Workspace

UR - https://www.scopus.com/pages/publications/84938675219

U2 - 10.1007/s11012-015-0249-2

DO - 10.1007/s11012-015-0249-2

M3 - 文章

AN - SCOPUS:84938675219

SN - 0025-6455

VL - 51

SP - 1595

EP - 1606

JO - Meccanica

JF - Meccanica

IS - 7

ER -

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

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Keywords

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