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Dimensional synthesis of a 3-DOF parallel manipulator with full circle rotation

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Abstract

Parallel robots are widely used in the academic and industrial fields. In spite of the numerous achievements in the design and dimensional synthesis of the low-mobility parallel robots, few research efforts are directed towards the asymmetric 3-DOF parallel robots whose end-effector can realize 2 translational and 1 rotational(2T1R) motion. In order to develop a manipulator with the capability of full circle rotation to enlarge the workspace, a new 2T1R parallel mechanism is proposed. The modeling approach and kinematic analysis of this proposed mechanism are investigated. Using the method of vector analysis, the inverse kinematic equations are established. This is followed by a vigorous proof that this mechanism attains an annular workspace through its circular rotation and 2 dimensional translations. Taking the first order perturbation of the kinematic equations, the error Jacobian matrix which represents the mapping relationship between the error sources of geometric parameters and the end-effector position errors is derived. With consideration of the constraint conditions of pressure angles and feasible workspace, the dimensional synthesis is conducted with a goal to minimize the global comprehensive performance index. The dimension parameters making the mechanism to have optimal error mapping and kinematic performance are obtained through the optimization algorithm. All these research achievements lay the foundation for the prototype building of such kind of parallel robots.

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Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Tianjin University, Tianjin, 300072, China

    Yanbing Ni, Nan Wu & Biao Zhang

  2. FAW Jiefang Automotive Company, Ltd, Axle Filiale, Changchun, 130011, China

    Xueyong Zhong

Authors
  1. Yanbing Ni
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  2. Nan Wu
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  3. Xueyong Zhong
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  4. Biao Zhang
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Corresponding author

Correspondence to Yanbing Ni.

Additional information

Supported by National Natural Science Foundation of China(Grant No. 51135008)

NI Yanbing, born in 1964, is currently an associate professor at Tianjin University, China. He received his PhD degree at Tianjin University, China, in 2000. His research interests include parallel robotics and CNC equipment.

WU Nan, born in 1989, is currently a master candidate at School of Mechanical Engineering, Tianjin University, China.

ZHONG Xueyong, born in 1986, is currently an engineer at FAW Jiefang Automotive Company, China. He received his master degree at School of Mechanical Engineering, Tianjin University, China, in 2012.

ZHANG Biao, born in 1991, is currently a master candidate at School of Mechanical Engineering, Tianjin University, China.

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Ni, Y., Wu, N., Zhong, X. et al. Dimensional synthesis of a 3-DOF parallel manipulator with full circle rotation. Chin. J. Mech. Eng. 28, 830–840 (2015). https://doi.org/10.3901/CJME.2015.0122.051

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  • DOI: https://doi.org/10.3901/CJME.2015.0122.051

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