Design and Kinematic Analysis of a Novel 7-DoF Dual-Arm Parallel Manipulator for 3C Products Assembly

Xiansheng Yang; Zhenyu Zou; Jinmin Zhang; Yunjiang Lou

doi:10.1007/978-3-030-89092-6_27

Design and Kinematic Analysis of a Novel 7-DoF Dual-Arm Parallel Manipulator for 3C Products Assembly

Xiansheng Yang
, Zhenyu Zou
, Jinmin Zhang
, Yunjiang Lou^*

^*Corresponding author for this work

Harbin Institute of Technology Shenzhen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

Based on the field research and analysis of the 3C (Computers, Communications, and Consumer Electronics) products assembly processes, this paper proposed a novel seven degrees-of-freedom (DoF) dual-arm parallel manipulator for 3C products assembly. The proposed manipulator is consists of two cooperating parallel manipulators (PMs) with less DoF, which are a 4-DoF 3T1R (T: translation, R: rotation) PM and a 3-DoF 3R PM. The proposed manipulator has a redundant rotational pitch motion (rotational motion around a horizontal axis). The analysis of the position and workspace of the proposed manipulator is discussed in detail. In addition, a prototype of the proposed manipulator has been developed. The mobility verification and a computer mouse assembly experiment based on the prototype are conducted. Experiment results show that the proposed 7-DoF dual-arm parallel manipulator can be a prospective candidate to accomplish the 3C assembly tasks.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 14th International Conference, ICIRA 2021, Proceedings
Editors	Xin-Jun Liu, Zhenguo Nie, Jingjun Yu, Fugui Xie, Rui Song
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	290-301
Number of pages	12
ISBN (Print)	9783030890919
DOIs	https://doi.org/10.1007/978-3-030-89092-6_27
State	Published - 2021
Externally published	Yes
Event	14th International Conference on Intelligent Robotics and Applications, ICIRA 2021 - Yantai, China Duration: 22 Oct 2021 → 25 Oct 2021

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	13016 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	14th International Conference on Intelligent Robotics and Applications, ICIRA 2021
Country/Territory	China
City	Yantai
Period	22/10/21 → 25/10/21

Keywords

3C products assembly
3R
3T1R
Kinematic analysis
Parallel manipulators
Schönflies motion

Access to Document

10.1007/978-3-030-89092-6_27

Cite this

Yang, X., Zou, Z., Zhang, J., & Lou, Y. (2021). Design and Kinematic Analysis of a Novel 7-DoF Dual-Arm Parallel Manipulator for 3C Products Assembly. In X.-J. Liu, Z. Nie, J. Yu, F. Xie, & R. Song (Eds.), Intelligent Robotics and Applications - 14th International Conference, ICIRA 2021, Proceedings (pp. 290-301). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 13016 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-89092-6_27

Yang, Xiansheng ; Zou, Zhenyu ; Zhang, Jinmin et al. / Design and Kinematic Analysis of a Novel 7-DoF Dual-Arm Parallel Manipulator for 3C Products Assembly. Intelligent Robotics and Applications - 14th International Conference, ICIRA 2021, Proceedings. editor / Xin-Jun Liu ; Zhenguo Nie ; Jingjun Yu ; Fugui Xie ; Rui Song. Springer Science and Business Media Deutschland GmbH, 2021. pp. 290-301 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "Based on the field research and analysis of the 3C (Computers, Communications, and Consumer Electronics) products assembly processes, this paper proposed a novel seven degrees-of-freedom (DoF) dual-arm parallel manipulator for 3C products assembly. The proposed manipulator is consists of two cooperating parallel manipulators (PMs) with less DoF, which are a 4-DoF 3T1R (T: translation, R: rotation) PM and a 3-DoF 3R PM. The proposed manipulator has a redundant rotational pitch motion (rotational motion around a horizontal axis). The analysis of the position and workspace of the proposed manipulator is discussed in detail. In addition, a prototype of the proposed manipulator has been developed. The mobility verification and a computer mouse assembly experiment based on the prototype are conducted. Experiment results show that the proposed 7-DoF dual-arm parallel manipulator can be a prospective candidate to accomplish the 3C assembly tasks.",

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author = "Xiansheng Yang and Zhenyu Zou and Jinmin Zhang and Yunjiang Lou",

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Yang, X, Zou, Z, Zhang, J & Lou, Y 2021, Design and Kinematic Analysis of a Novel 7-DoF Dual-Arm Parallel Manipulator for 3C Products Assembly. in X-J Liu, Z Nie, J Yu, F Xie & R Song (eds), Intelligent Robotics and Applications - 14th International Conference, ICIRA 2021, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 13016 LNAI, Springer Science and Business Media Deutschland GmbH, pp. 290-301, 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021, Yantai, China, 22/10/21. https://doi.org/10.1007/978-3-030-89092-6_27

Design and Kinematic Analysis of a Novel 7-DoF Dual-Arm Parallel Manipulator for 3C Products Assembly. / Yang, Xiansheng; Zou, Zhenyu; Zhang, Jinmin et al.
Intelligent Robotics and Applications - 14th International Conference, ICIRA 2021, Proceedings. ed. / Xin-Jun Liu; Zhenguo Nie; Jingjun Yu; Fugui Xie; Rui Song. Springer Science and Business Media Deutschland GmbH, 2021. p. 290-301 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 13016 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - Based on the field research and analysis of the 3C (Computers, Communications, and Consumer Electronics) products assembly processes, this paper proposed a novel seven degrees-of-freedom (DoF) dual-arm parallel manipulator for 3C products assembly. The proposed manipulator is consists of two cooperating parallel manipulators (PMs) with less DoF, which are a 4-DoF 3T1R (T: translation, R: rotation) PM and a 3-DoF 3R PM. The proposed manipulator has a redundant rotational pitch motion (rotational motion around a horizontal axis). The analysis of the position and workspace of the proposed manipulator is discussed in detail. In addition, a prototype of the proposed manipulator has been developed. The mobility verification and a computer mouse assembly experiment based on the prototype are conducted. Experiment results show that the proposed 7-DoF dual-arm parallel manipulator can be a prospective candidate to accomplish the 3C assembly tasks.

AB - Based on the field research and analysis of the 3C (Computers, Communications, and Consumer Electronics) products assembly processes, this paper proposed a novel seven degrees-of-freedom (DoF) dual-arm parallel manipulator for 3C products assembly. The proposed manipulator is consists of two cooperating parallel manipulators (PMs) with less DoF, which are a 4-DoF 3T1R (T: translation, R: rotation) PM and a 3-DoF 3R PM. The proposed manipulator has a redundant rotational pitch motion (rotational motion around a horizontal axis). The analysis of the position and workspace of the proposed manipulator is discussed in detail. In addition, a prototype of the proposed manipulator has been developed. The mobility verification and a computer mouse assembly experiment based on the prototype are conducted. Experiment results show that the proposed 7-DoF dual-arm parallel manipulator can be a prospective candidate to accomplish the 3C assembly tasks.

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Yang X, Zou Z, Zhang J, Lou Y. Design and Kinematic Analysis of a Novel 7-DoF Dual-Arm Parallel Manipulator for 3C Products Assembly. In Liu XJ, Nie Z, Yu J, Xie F, Song R, editors, Intelligent Robotics and Applications - 14th International Conference, ICIRA 2021, Proceedings. Springer Science and Business Media Deutschland GmbH. 2021. p. 290-301. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-89092-6_27