Conceptual Design and Dimensional Synthesis of a Novel 2-DOF Translational Parallel Robot for Pick-and-Place Operations

[+] Author and Article Information
Tian Huang, Zhanxian Li, Meng Li

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

Derek G. Chetwynd

School of Engineering, University of Warwick, Coventry CV4 7AL, UK

Clement M. Gosselin

Department of Mechanical Engineering, Laval University, Quebec, Canada

J. Mech. Des 126(3), 449-455 (Oct 01, 2003) (7 pages) doi:10.1115/1.1711822 History: Received March 01, 2003; Revised October 01, 2003
Copyright © 2004 by ASME
Your Session has timed out. Please sign back in to continue.


Bonev, I., 2001, “Delta Parallel Robot—The Story of Success,” on line available: http://www.parallelmic.org
Cervantez-Sanchez,  J. J., and Rendon-Sanchez,  J. G., 1999, “A Simplified Approach for Obtaining the Workspace of a Class of 2-DOF Planar Parallel Robot,” Mech. Mach. Theory, 34(7), pp. 1057–1073.
Clavel, R., 1990, “Device for the Movement and Positioning of an Element in Space,” U.S. Patent 4976582, Dec. 11.
Rey, L., and Clavel, R., 1999, “The Delta Parallel Robot,” Parallel Kinematic Machine, Boer, C. R., Molinari-Tosatti, L., Smith, K. S., eds., Springer, New York.
Clavel, R., 1988, “Delta, A Fast Robot With Parallel Geometry,” The 18th Int. Symposium on Industrial Robots (ISIR), pp. 91–100, Sydney, Australia.
Codourey, A., 1996, “Dynamic Modeling and Mass Matrix Evaluation of the Delta Parallel Robot for Axes Decoupling Control,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1211–1218.
Maurine, P., and Dombre, E., 1996, “A Calibration Procedure for the Parallel Robot Delta 4,” Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’96), pp. 975–980, Minneapolis, MN.
Miller, K., 1992, “The Proposal of a New Model of Direct Drive Robot Delta-4 Dynamics,” Proc. of Int. Conf. on Advanced Robotics, pp. 411–416, Tokyo, Japan.
Miller, K., 1995, “Experimental Verification of Modeling of Delta Robot Dynamics by Direct Application of Hamilton’s Principle,” Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’95), pp. 532–537, Nagoya, Japan.
Miller, K., 1995, “On Accuracy and Computational Efficiency of Delta Direct Drive Robot Dynamics Mode,” Proc. of Int. Sym. on Microsystems, Intelligent Materials and Robots, pp. 568–571, Sendai, Japan, 1995
Miller, K., 1995, “Model-Based Control of Delta Direct Drive Parallel Robot; Trajectory Tracking Experiments,” Proc. of the 26th International Symposium of Industrial Robots, pp. 491–496, Singapore.
Miller,  K., 1995, “Modeling of Dynamics and Model-Based Control of Delta Direct-Drive Parallel Robot,” J. of Robotics and Mechatronics, 17(4), pp. 344–352.
Miller,  K., and Clavel,  R., 1992, “The Lagrange-Based Model of Delta-4 Robot Dynamics,” Robot System, 8(4), pp. 49–54.
Stamper, R. C., Tsai, L. W., and Walsh, G. C., 1997, “Optimization of a 3-DOF Translational Platform for Well-Conditioned Workspace,” Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’97), pp. 3250–3255, Albuquerque.
Tsai, L. W., Walsh, G. C., and Stamper, R. C., 1996, “Kinematics of a Novel 3-DOF Translational Platform,” Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’96), pp. 3446–3451, Minneapolis, MN.
Tsai, L. W., 1999, “The Enumeration of a Class of 3-DOF Parallel Manipulators,” Proc. of The 10th World Congress on the Theory of Machine and Mechanisms, pp. 1121–1126, Oulu, Finland.
Tsai,  L. W., and Joshi,  S., 2002, “Kinematics and Optimization of a 3UPU Parallel Manipulator,” ASME J. Mech. Des., 122, No. 4, pp. 439–446.
Huang, T., Li, M., and Li, Z. X., 2001, “A 2-DOF Translational Parallel Robot With Revolute Joints,” CN patent 1355087, Dec. 31.
Gosselin,  C. M., and Angeles,  J., 1989, “The Optimum Kinematic Design of a Spherical 3-DOF Parallel Manipulator,” ASME J. Mech. Des., 112(2), pp. 202–207.
Gosselin,  C. M., and Angeles,  J., 1991, “A Globe Performance Index for the Kinematic Optimization of Robotic Manipulators,” ASME J. Mech. Des., 113(3), pp. 220–226.
Gosselin,  C. M., 1993, “The Optimum Design of Robotic Manipulators Using Dexterity Indices,” Rob. Auton. Syst., 9(4), pp. 213–226.
Huang,  T., Whitehouse,  D. J., and Wang,  J. S., 1998, “Local Dexterity, Optimum Architecture and Design Criteria of Parallel Machine Tools,” CIRP Ann., 47(1), pp. 347–351.
Huang,  T., Wang,  J. S., Gosselin,  C. M., and Whitehouse,  D. J., 2000, “Kinematic Synthesis of Hexapods With Prescribed Orientation Capability and Well-Conditioned Dexterity,” SME J. of Manufacturing Processes, 2(1), pp. 36–47.
Salisbury,  J. K., and Craig,  J. J., 1983, “Artificial Hands: Force Control and Kinematic Issues,” Int. J. Robot. Res., 1(1), pp. 4–17.
Zanganeh,  K., and Angeles,  J., 1997, “Kinematic Isotropy and the Optimum Design of Parallel Manipulators,” Int. J. Robot. Res., 6(2), pp. 185–197.
Gosselin,  C. M., and Wang,  J., 1997, “Singularity Loci of Planar Parallel Manipulators With Revolute Actuators,” Rob. Auton. Syst., 21(4), pp. 377–398.
Singh,  J. R., and Rastegar,  J., 1995, “Optimal Synthesis of Robot Manipulators Based on Global Kinematic Parameters,” Mech. Mach. Theory, 30(4), pp. 569–580.


Grahic Jump Location
The necessary conditions for the movable platform to undergo the purely translational motion
Grahic Jump Location
The possible candidates for generating 2-DOF translational robots having symmetrical drives
Grahic Jump Location
Variations of η, η̄ and η̃ vs. H and δ
Grahic Jump Location
A device for quality inspection of rechargeable batteries
Grahic Jump Location
Distribution of the optimized kinematic performance (a) The condition number of the Jacobian; (b) The minimum pressure angle
Grahic Jump Location
Sketches of the proposed 2-DOF translational robot (a) with the over constraints, (b) without the over constraints
Grahic Jump Location
A 3-DOF hybrid robot using Diamond mechanism
Grahic Jump Location
Kinematic model of the 2-DOF parallel robot
Grahic Jump Location
The workspace of the 2-DOF parallel robot
Grahic Jump Location
Comparison of the performance of Robots A and B



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In