Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical honeycomb perfusion

doi:10.1007/s11465-020-0606-2

Front. Mech. Eng.

2021, Vol. 16

Issue (1) : 46-60 https://doi.org/10.1007/s11465-020-0606-2

RESEARCH ARTICLE

Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical honeycomb perfusion

Hui YANG¹, Hairong FANG¹(

), Yuefa FANG¹, Xiangyun LI²

¹. School of Mechanical Engineering, Beijing Jiaotong University, Beijing 100044, China
². School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China

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Abstract

A novel hybrid perfusion manipulator (HPM) with five degrees of freedom (DOFs) is introduced by combining the 5PUS-PRPU (P, R, U, and S represent prismatic, revolute, universal, and spherical joint, respectively) parallel mechanism with the 5PRR reconfigurable base to enhance the perfusion efficiency of the large-scale spherical honeycomb thermal protection layer. This study mainly presents the dimensional synthesis of the proposed HPM. First, the inverse kinematics, including the analytic expression of the rotation angles of the U joint in the PUS limb, is obtained, and mobility analysis is conducted based on screw theory. The Jacobian matrix of 5PUS-PRPU is also determined with screw theory and used for the establishment of the objective function. Second, a global and comprehensive objective function (GCOF) is proposed to represent the Jacobian matrix’s condition number. With the genetic algorithm, dimensional synthesis is conducted by minimizing GCOF subject to the given variable constraints. The values of the designed variables corresponding to different configurations of the reconfigurable base are then obtained. Lastly, the optimal structure parameters of the proposed 5-DOF HPM are determined. Results show that the HPM with the optimized parameters has an enlarged orientation workspace, and the maximum angle of the reconfigurable base is decreased, which is conducive to improving the overall stiffness of HPM.

Keywords 5-DOF hybrid manipulator reconfigurable base large workspace dimensional synthesis optimal design

Corresponding Author(s): Hairong FANG

Just Accepted Date: 18 December 2020 Online First Date: 18 January 2021 Issue Date: 11 March 2021

Cite this article:

Hui YANG,Hairong FANG,Yuefa FANG, et al. Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical honeycomb perfusion[J]. Front. Mech. Eng., 2021, 16(1): 46-60.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-020-0606-2
https://academic.hep.com.cn/fme/EN/Y2021/V16/I1/46

Fig.1 Virtual prototype of the perfusion system. DC: Direct current.

Fig.2 Structure model and kinematic diagram of the hybrid perfusion mechanism: (a) Hybrid perfusion mechanism, (b) 5PRR reconfigurable base, (c) 5PUS-PRPU parallel mechanisms, and (d) kinematic diagram.

Fig.3 Diagram of the twist system for the PRPU limb.

Fig.4 Diagram of the ith PUS branch.

Fig.5 Screws of the ith PUS and the middle branch chains.

Fig.6 Pose of HPM in the task workspace.

Fig.7 Comparisons of condition numbers and orientation workspace with different

λ 1, λ 2

, and

λ 3

values: Condition number with (a) different

λ 1

, (b) different

λ 2

, and (c) different

λ 3

; orientation workspace with (d) different

λ 1

, (e) different

λ 2

, and (f) different

λ 3

Fig.8 (a)

γ i

and (b)

η i

with the change in

α

and

β

Fig.9 (a)

κ ‾

and (b)

κ ˜

with the change in

λ 1, λ 2

, and

λ 4

; (c)

κ ‾

and (d)

κ ˜

with the change in

λ 1, λ 3

, and

λ 4

$θ$ /(° )	$λ 1$	$λ 2$	$λ 3$	$λ 4$
20	[1.8, 2.2]	[1.7, 2.1]	[0.6, 1.0]	[1.6, 1.9]
30	[1.8, 2.2]	[1.7, 2.1]	[0.6, 1.0]	[1.9, 2.2]
40	[1.8, 2.2]	[1.7, 2.1]	[0.6, 1.0]	[2.2, 2.5]
50	[1.8, 2.2]	[1.7, 2.1]	[0.6, 1.0]	[2.5, 2.8]
60	[1.8, 2.2]	[1.7, 2.1]	[0.6, 1.0]	[2.8, 3.1]

Tab.1 Variable ranges of

λ 1, λ 2, λ 3

, and

λ 4

with different

θ

values

Fig.10 Optimization results of

λ 1, λ 2, λ 3

, and

λ 4

based on GA when (a)

θ = 20 °

, (b)

θ = 30 °

, (c)

θ = 40 °

, (d)

θ = 50 °

, and (e)

θ = 60 °

$θ / (°)$	$λ 1$	$λ 2$	$λ 3$	$λ 4$	$ε min ?$
20	1.876	1.793	0.853	1.6	1.786
30	1.915	1.847	0.827	1.9	1.837
40	1.998	1.921	0.786	2.2	1.955
50	2.064	1.996	0.745	2.5	2.119
60	2.115	2.029	0.701	2.8	2.307

Tab.2 Optimal values of

λ 1, λ 2, λ 3

, and

λ 4

with different

θ

values

$θ$ /(° )	$λ 1$	$λ 2$	$λ 3$	$λ 4$	$s i min ?$	$s i max ?$	$s 7 min ?$	$s 7 max ?$	$z min ?$	$z max ? / mm$
20	2.115	2.029	0.701	1.6	47.81	1327.97	934.07	1196.41	1120	1330
30	2.115	2.029	0.701	1.9	84.39	1321.67	915.00	1178.19	1330	1540
40	2.115	2.029	0.701	2.2	131.16	1328.59	917.96	1181.01	1540	1750
50	2.115	2.029	0.701	2.5	200.09	1353.27	949.24	1210.92	1750	1960
60	2.115	2.029	0.701	2.8	301.11	1402.62	1014.26	1273.31	1960	2170

Tab.3 Values for the parameters of the proposed HPM

Fig.11 Comparison of the reachable workspace and task workspace of the proposed HPM: (a) 3D and (b) top views of the comparison of the position workspace; (c) 3D and (d) top views of the comparison of the orientation workspace.

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