Solution and Simulation of Position-Orientation for Multi-Spatial 3-RPS Parallel Mechanisms in Series Connection
Tóm tắt
A novel spatial manipulator formed by multi-spatial 3-RPS parallel mechanisms in series connection is presented in this paper after synthesizing each advantage of both spatial series mechanism and parallel mechanisms. First, a solution of position-orientation for a spatial mechanism formed by two spatial 3-RPS parallel mechanisms in series connection is derived, a motion relationship between the driving rods and the end platform (output link) is determined. A simulation mechanism of this novel spatial manipulator is constituted in the Solidwork environment, and some computer simulation of the novel spatial manipulator are conducted and analyzed. Based on these results, a general solution of position-orientation of a spatial manipulator formed by multi-spatial 3-RPS parallel mechanism in series connection is derived. These outcomes provide a theoretical foundation for designing robot mechanisms.
Tài liệu tham khảo
Stewart, D., ‘A platform with six degrees of freedom’, Proc. Inst. Mech. Eng. Part I 180(15), 1965, 371–386.
Hunt, K.H., ‘Structural kinematics of in-parallel actuated robot arms’, Trans. ASME J. Mech. Trans. Automat. Des. 105(4), 1983, 705–712.
Huang, Z. and Li, Q., ‘Type synthesis principle of minor-mobility parallel manipulators’, Science of China (Series E) 45(3), 2002, 241–248.
Tsai, L.W. and Tahmasebi, F., ‘Synthesis and analysis of a new class of six-degree of freedom parallel minimanipulators’, Journal of Robotic systems 10(5), 1993, 561–580.
Feng, G., Li, W. and Zhao, X., ‘New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs’, Mechanism and Machine Theory 37, 2002, 1395–1411.
Liang, C.G. and Rong, H., ‘Solution of position for manipulator of parallel-actuated manipulators’, Journal of China Mechanical Engineering 27(2), 1991, 26–33
Huang, Z. and Fang, Y.F., ‘Kinematic characteristics analysis of 3-DOF in-parallel actuated pyramid mechanisms’, Mach. Mech. Theory 31(8), 1996, 1009–1018.
Yi, L., ‘Using CAD functionalities for the kinematics analysis of spatial parallel manipulators with 3-, 4-, 5-, 6-linearly driven limbs’, Machine and Mechanism Theory 39(1), 2004, 41–60.
Huang, Z. and Wang, J., ‘Identification of principal screws of 3-DOF parallel manipulators by quadric degeneration’, Journal of Mechanism and Machine Theory 36(8), 2001, 893–911.
Gosselin, C.M., ‘On the direct kinematics of spherical 3-DOF parallel manipulators’, Int. Journal of Rob. Res. 12(4), 1993, 394–402.
Gosselin, C.M. and Angeles, J., ‘The optimum kinematic design of a spherical 3-DOF parallel manipulator’, Trans. of the ASME J. of Mech. Transm. Autom. 116(4), 1994, 1141–1147.
Lee, H.Y. and Roth, B., ‘A closed-form solution of the forward displacement analysis of a class of in-parallel mechanisms’, Proc. of IEEE Int. Conf. on Rob. Aut. 1993, 720–724.
Sreentvasan, S.V. and Waldron, K.J., ‘Closed-form direct displacement analysis of 6-6 Stewart platform’, Journal of Mechanism and Machine Theory 29(2), 1994, 855–864.
Dasgupta, B. and Mruthyunjaya, T.S., ‘A constructive predictor-corrector algorithm for the direct position kinematic problem for a general 6-6 Stewart platform’, Journal of Mechanism and Machine Theory 31(6), 1996, 799–811.
Alizade, R.I., Tagiyev, N.R. and Duffy, J., ‘A forward and reverse displacement analysis of a 6-DOF in-parallel manipulators’, Journal of Mechanism and Machine Theory 29(1), 1994, 115–124.
Amirat, Y. and Artigue, F., ‘Six degree of freedom parallel robots with C5 links’, Robotics 10, 1992, 35–44.
Tsai, L.W. and Joshi, S., ‘Kinematics and optimization of a spatial 3-UPU parallel manipulator’, Trans. of the ASME Journal of Mechanical Design 122(4), 2000, 439–446.