Kinematics of a partially decoupled 3R2T symmetrical parallel manipulator 3-RCRR

Abstract

The 3R2T (three rotational and two independent translational degree of freedom (DoF)) symmetrical parallel manipulator may be adopted in bionics, for example, simulating the motion of a cervical spine based on their mobility property and performance close to isotropic limit. However, up to now, characteristics of this class of manipulators have not been well studied because of its short history. Hence, to study the feasibility of this class of manipulator for bionics, kinematics for 3-RCRR is analysed including position, singularity, velocity, and acceleration. Different from other 3R2T 5-DoF symmetrical parallel manipulators, the mobility of 3-RCRR is partially decoupled, which makes the realization of control system easier than in others.

Keywords

kinematics bionics five-DoF parallel manipulator 3-RCRR

Get full access to this article

View all access options for this article.

References

Merlet

J.-P

. Still a long way to go on the road for parallel mechanisms2002, available from http://www-sop.inria.frcoprin/equipe/merlet/ASME/asme2002.html.

Huang

Q. C

. General methodology for type synthesis of lower-mobility symmetrical parallel manipulators and several novel manipulators. Int. J. Robot. Res.200221(2)131–145.

Fang

Y. F.

Tsai

L. W

. Structure synthesis of a class of 4-DoF and 5-DoF parallel manipulators with identical limb structures. Int. J. Robot. Res.200221(9)799–810.

Q. C.

Huang

Hervé

J. M

. Type synthesis of 3R2T 5-DOF parallel mechanisms using the lie group of displacements. IEEE Trans. Robot. Autom.200420(2)173–180.

Kong

X. W.

Gosselin

C. M

. Type synthesis of 5-DOF parallel manipulators based on screw theory. J. Robot. Syst.200522(10)535–547.

Zhu

S. J.

Huang

. Eighteen fully symmetrical 5-DoF 3R2T parallel manipulators with better actuating modes. Int. J. Adv. Manuf.200734(3–4)406–412.

Yang

G. L.

Chen

I. M.

Chen

W. H.

Lin

. Kinematic design of a six-dof parallel-kinematics machine with decoupled-motion architecture. IEEE Trans. Robot. Autom.200420(5)876–884.

Hunt

K. H

. Kinematic geometry of mechanisms1978 (Claredon PressOxford).

Huang

. Kinematics and type synthesis of lower-mobility parallel robot manipulators. Technical Report, 11th IFToMM2004, Tianjin, China2004, pp. 65–76.

10.

Duffy

. Analysis of mechanisms and robot manipulators1980 (John Wiley and SonsNew York).

11.

Gosselin

C. M

. On the direct kinematics of spherical three-degree-of-freedom parallel manipulators of general architecture. J. Mech. Des.1994116(3)594–598.

12.

Huang

Kong

L. F.

Fang

Y. F

. Manipulator theory and control of parallel manipulators1997 (China Machine PressBeijing) (in Chinese).

13.

Thomas

Tesar

. Dynamic modeling of serial mechanism arms. J. Dyn. Syst. Meas. Control1982104(9)218–227.

14.

Huang

. Modeling formulation of 6-dof multi-lloop parallel mechanisms, part-1: Kinematic influence coefficients. In Proceeding of the 4th IFToMM International Symposium on Linkage and Computer Aided Design Methods Bucharest Romania19851, pp. 155–162.

15.

Huang

. Modeling formulation of 6-dof multi-loop parallel mechanisms, Part-2: Dynamic modeling and example. In Proceeding of the 4th IFToMM International Symposium on Linkage and Computer Aided Design Methods Bucharest Romania19851, pp. 163–170.

16.

Zhu

S. J.

Huang

. Forward/reverse velocity and acceleration analyses for a class of lower-mobility parallel mechanisms. ASME 2005 Design Engineering Technical Conferences and Computer and Information in Engineering Conference, Long Beach, USA2005, MECH-84081.