Position Analysis of a 3-DOF PKM Module for a 5-DOF Hybrid Robot Exechon

China Mechanical Engineering ›› 2010, Vol. 21 ›› Issue (23): 2785-2789.

Previous Articles Next Articles

Position Analysis of a 3-DOF PKM Module for a 5-DOF Hybrid Robot Exechon

Li Bin1,2;Huang Tian1;Liu Haitao1;Zhao Xinhua2

1.Tianjin University, Tianjin, 300072

2.Tianjin University of Technology, Tianjin, 300384

Online:2010-12-10 Published:2010-12-15
Supported by:
National High-tech R&D Program of China (863 Program) （No. 2009AA04Z219，2007AA04Z203）

Exechon混联机器人的三自由度并联机构模块位置分析

李彬1,2;黄田1;刘海涛1;赵新华2

1.天津大学，天津，300072

2.天津理工大学，天津，300384

基金资助:
国家高技术研究发展计划(863计划)资助项目(2009AA04Z219，2007AA04Z203)
National High-tech R&D Program of China (863 Program) （No. 2009AA04Z219，2007AA04Z203）

Abstract

Abstract:

This paper dealt with the inverse and forward position analyses of a 3-DOF parallel mechanism module, which formed the main body of a 5-DOF hybrid robot named Exechon. In the forward position analysis, a twenty-four order polynomial equation was derived, leading to 4 sets of mirror poses associated with 8 real solutions of the polynomial. In the inverse position analysis, an explicit equation was formulated to determine 2 poses associated with 2 solutions. Consequently, the entire set of solutions for the forward and inverse position analyses of the mechanism were found.

Key words: hybrid robot, parallel manipulator, forward position analysis, inverse position analysis

摘要：

以一种组成五自由度混联机器人Exechon的三自由度并联机构模块2-UPR&SPR为研究对象，利用解析法对其位置正/逆解进行分析。针对位置正解，得到了只含一个未知量的24阶多项式方程，给出了该机构位置正解的所有可能解的解析表达式，对于位置逆解，得到了其显式表达。算例表明，由正解方程得到的8个实数解对应4组镜像位形，逆解方程存在2个实数解，对应2种位形，从而得到该机构位置正/逆解的全部解析解。

关键词:

混联机器人, 并联机构, 位置正解, 位置逆解

CLC Number:

TH112

LI Ban, HUANG Tian, LIU Hai-Chao, DIAO Xin-Hua.

Position Analysis of a 3-DOF PKM Module for a 5-DOF Hybrid Robot Exechon

[J]. China Mechanical Engineering, 2010, 21(23): 2785-2789.

李彬, 黄田, 刘海涛, 赵新华.

Exechon混联机器人的三自由度并联机构模块位置分析

[J]. 中国机械工程, 2010, 21(23): 2785-2789.

References

[1]Neumann K E. Robot: US, 4732525 [P]. 1988-03- 12.
[2]D6rries Scharmann Technologie GmbH. Sprint Z3 [EB/OL]. [2006-12-10] http://www. ds-- technol- ogle. de/v3/products/index. php? id = 31& group_ id=9.
[3]黄田,李曚,李占非,等.非对称空间五自由度混联机器人:中国,CN1524662[P].2003-09-16.
[4]Huang T, Li M, Zhao X M,et al. Conceptual De- sign and Dimensional Synthesis for a 3--DOF Mod- ule of the TriVariant--a Novel 5--DOF Reconfigu- table Hybrid Robot[J]. IEEE Trans. Robot. Au- tom., 2005, 21(3):449-456.
[5]Lukanin V. Inverse Kinematics, Forward Kinemat- ics and Working Space Determination of 3 -- DOF Parallel Manipulator with S--P--R Joint Structure [J]. Periodica Polytechnica Ser. Mech. Eng., 2005, 49(1) :39-61.
[6]Lee T Y, Shim J K. Forward Kinematics of the General 6- 6 Stewart Platform Using Algebraic Elimination[J]. Mechanism and Machine Theory, 2001,36 : 1073-1085.
[7]Liang C G,Rong H. A Direct Displacement Solution to the Stewart Platform Mechanical Hand[J]. Jour- nal of Mechanical Engineering, 1991, 27(2) : 26-30.
[8]Wen F A,Liang C G. Displacement Analysis of the 6--6 Stewart Platform Mechanisms[J]. Mechanism and Machine Theory, 1994,29(4) :547-557.
[9]Joshi S A,Tsai L W. The Kinematics of a Class of 3 --dof, 4--leggecl Parallel Manipulators[J]. ASME Journal of Mechanical Design, 2003, 125 (1) ; 52- 60.
[10]Jun S H, Zhengg L Q, Liang G. Direct Positional Analysis for a Kind of 5--5 Platform in Parallel Robotic Mechanism[J]. Mechanism and Machine Theory, 1999, 34:285-301.
[11]Didrit O, Peritot M,Walter E. Guaranteed Solution of Direct Kinematic Problems for General Config- urations of Parallel Manipulator[J]. IEEE Journal of Robotics and Automation, 1998, 14(2):259- 266.
[12]Gosselin C M,Sefrioui J,Richard M J. On the Di- rect Kinematics of Spherical Three Degree of Free- dom Parallel Manipulators of General Architecture [J].ASME Journal of Mechanical Design, 1994, 116(2) : 594-598.
[13]Liu C H,Cheng S. Direct Singular Positions of 3-- RPS Parallel Manipulators[J]. ASME Journal of Mechanical Design, 2004,126(6) : 1006-1016.

[1]	XIE Zhijiang, CHENG Qing, DING Jun, HE Miao, FAN Naiji, WU Xiaoyong. Dimensional Design and Performance Analysis of a 6-DOF Parallel Manipulator with Two Limbs [J]. China Mechanical Engineering, 2022, 33(14): 1680-1690.
[2]	SUN Chiyu, SHEN Huiping, YUAN Juntang, YANG Tingli. Kinematics of a Novel Three-translation and One-rotation(3T1R) Semi-symmetry Parallel Manipulator [J]. China Mechanical Engineering, 2021, 32(06): 638-647.
[3]	KONG Juncheng;LI Ju;SHEN Huiping. Error Analysis and Compensation for Clearances among Kinematic Pairs of 2-RPaRSS Parallel Manipulators [J]. China Mechanical Engineering, 2020, 31(06): 706-713.
[4]	SHEN Huiping;SHAO Guowei;DENG Jiaming;MENG Qingmei;YANG Tingli. A Novel Not-fully Symmetrical 3T1R PM with Low Coupling-degrees and Its Kinematics [J]. China Mechanical Engineering, 2017, 28(19): 2289-2299.
[5]	Hu Bo, Song Chunxiao, Zhang Qingling, Yu Jingjing, . Jacobian Matrix Establishment of 2(2-UPR+SPR) Serial-parallel Manipulator [J]. China Mechanical Engineering, 2015, 26(7): 853-858.
[6]	Qin Li , Liu Fucai, Liang Lihuan, Jin Zhenlin. Hybrid Humanoid Space Mechanical Arm Trajectory Tracking Control Based on Sliding Mode [J]. China Mechanical Engineering, 2015, 26(4): 435-441.
[7]	Chang Dingyong;Fang Yuefa. Design and Analysis of a Multiple Output 3D Printing Redundant Parallel Manipulator [J]. China Mechanical Engineering, 2015, 26(12): 1595-1602.
[8]	Zhou Jiehua, Peng Xiafu. Singularity and Workspace Analysis of a 3-DOF Parallel Manipulator with Redundant Actuation [J]. China Mechanical Engineering, 2014, 25(6): 751-756.
[9]	WEI Xiu-Ting-1, LI Gang-1, DU Jiang-2, CHEN Qian-Qian-1. Kinematic Analysis and Workspace Calculation of a 6-PTRT Manipulator for Chamfering Gear Addendum [J]. China Mechanical Engineering, 2013, 24(6): 750-754.
[10]	LI Feng, GU Hong-Bin, TUN Dong-Su. Dynamics Model of Helmet Mounted Display with a 6-DOF Parallel Manipulator and Corresponding Verification [J]. China Mechanical Engineering, 2013, 24(09): 1201-1209.
[11]	LIU Wei, CHANG Sai-Qi. Study on Singularity and Workspace of a Novel Parallel Manipulator [J]. China Mechanical Engineering, 2012, 23(7): 786-790.
[12]	JI Ye, LIU Hong-Zhao, YUAN Da-Ning, WANG Geng-Xiang. Analyses for Performance Indices of a Four-DOF Parallel Manipulator [J]. China Mechanical Engineering, 2012, 23(3): 258-263.
[13]	LI Ban-1, 2, HUANG Tian-1, ZHANG Li-Min-1, DIAO Xin-Hua-2. Conceptual Design and Dimensional Synthesis of a Novel 5-DOF Hybrid Manipulator [J]. China Mechanical Engineering, 2011, 22(16): 1900-1905.
[14]	HU Dun-Feng, ZHANG Xian-Min. Active Vibration Control and Its Simulation of a Novel 2-DoF Flexible Parallel Manipulator [J]. China Mechanical Engineering, 2010, 21(17): 2017-2020,2024.
[15]	CHE Lin-Xian, HE Bing, CHENG Zhi-Gong. A 6-CRS Parallel Manipulator and Its Positional Analysis [J]. China Mechanical Engineering, 2010, 21(14): 1669-1675.

Position Analysis of a 3-DOF PKM Module for a 5-DOF Hybrid Robot Exechon

Exechon混联机器人的三自由度并联机构模块位置分析

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics