Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

doi:10.1007/s11465-018-0471-4

Front. Mech. Eng.

2018, Vol. 13

Issue (2) : 211-224 https://doi.org/10.1007/s11465-018-0471-4

RESEARCH ARTICLE

Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

Qizhi MENG¹, Fugui XIE^1,²(

), Xin-Jun LIU^1,²(

)

¹. The State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
². Beijing Key Laboratory of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China

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Abstract

This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom (DOFs) high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 1½ mobile platform. The mobile platform is a major innovation that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot’s DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.

Keywords spatial parallel robot pick-and-place operations mobility analysis kinematic modeling workspace identification

Corresponding Author(s): Fugui XIE,Xin-Jun LIU

Just Accepted Date: 25 September 2017 Online First Date: 06 November 2017 Issue Date: 16 March 2018

Cite this article:

Qizhi MENG,Fugui XIE,Xin-Jun LIU. Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations[J]. Front. Mech. Eng., 2018, 13(2): 211-224.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-018-0471-4
https://academic.hep.com.cn/fme/EN/Y2018/V13/I2/211

Fig.1 CAD models of different mobile platforms. (a) Double-platform structure of H4; (b) single-platform structure of X4

Fig.2 Architecture of the proposed parallel robot. (a) Conceptual model; (b) kinematic model

Fig.3 The joint-and-loop graph for basic principle

Fig.4 The architecture of the mobile platform. (a) Conceptual model, (b) kinematic model

Graphic expressions	Mathematical meanings	Physical meanings	Screw representation
Fig.5	Vector	Rotational motion	( $ω$ ; $r × ω$ )
Fig.6	Vector	Constraint force	( $f$ ; $r × f$ )
Fig.7	Couple	Translational motion	( $0$ ; $v$ )
Fig.8	Couple	Constraint couple	( $0$ ; $τ$ )

Tab.1 Graphic expressions of the basic elements and their meanings

Fig.9 Graphical representations of the basic rules

Fig.10 Motion and constraint line graphs for two groups of limbs. (a) Limbs I and IV; (b) Limbs II and III

Fig.11 Constraint line graphs for the lower and upper platforms

Tab.2 Constraint and motion spaces of different configurations to the robot

Fig.30 Three translational motions and one rotational motion for the proposed parallel robot. (a) 3T motions; (b) 1R motion

Fig.31 Inverse solution identification process (where i = I, II, III, IV).

Fig.32 The architecture of the mobile platform with accelerator. (a) Conceptual model; (b) internal principle of accelerator

Fig.33 Distribution of input singularity indices at point (0, 0, −600 mm).

Fig.34 Distribution of the output singularity indices at point (0, 0, –600 mm)

Fig.35 Rotational capability when

z = − 600 ? mm

. (a) Distribution of

θ max ?

; (b) distribution of

θ min ?

; (c) distribution of

θ srr

; (d) distribution of

θ mrr

Fig.36 Distributions of

θ srr

under different values of z. (a)

z = − 450 mm

; (b)

z = − 500 mm

; (c)

z = − 550 mm

; (d)

z = − 600 mm

Fig.37 Cross-sections when z= –450, –500, –550, and –600 mm

Fig.38 The maximal inscribed circle workspace

Fig.39 Cross-sections when z=–450, –500, –550, and –600 mm

Fig.40 The maximal symmetrical circle workspace

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