Kinematic Design of a 5-DOF Hybrid Robot with Large Workspace/Limb–Stroke Ratio

[+] Author and Article Information
Haitao Liu, Jianping Mei, Xueman Zhao

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

Tian Huang1

School of Mechanical Engineering, Tianjin University, Tianjin 300072, Chinahtiantju@public.tpt.tj.cn

Derek G. Chetwynd

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

Meng Li, S. Jack Hu

Department of Mechanical Engineering, The University of Michigan, Ann Arbor, MI 48190


Corresponding author.

J. Mech. Des 129(5), 530-537 (May 26, 2006) (8 pages) doi:10.1115/1.2712220 History: Received December 19, 2005; Revised May 26, 2006

This paper deals with the conceptual and kinematic designs of a 5-degree of freedom (DOF) reconfigurable hybrid robot. The robot is composed of a 2-DOF parallel spherical mechanism that is serially connected with a 3-DOF open loop kinematic chain via a prismatic joint. Somewhat similar to the well-known Tricept robot, this design has the merit that a relatively large workspace/limb–stroke ratio can be achieved thanks to the decomposition of the motions of the output link into the 2-DOF rotation and 1-DOF translation. As with the Tricept, the robot is well suited for use as a plug-and-play module to configure different machines. The dimensional synthesis of the 2-DOF spherical parallel mechanism is carried out by the monotonical analysis of the design variables versus a global conditioning index represented by the mean of the minimum singular value of the Jacobian, leading to the solution of two nonlinear equations due to the limb length constraint and nearly axial symmetry requirement of the kinematic performance. The results of the dimensional synthesis are given via examples.

Copyright © 2007 by American Society of Mechanical Engineers
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Figure 1

The 5-DOF hybrid robot

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Figure 2

Connection of the P̱ limb with the U limb

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Figure 3

Reconfigurability of the robot

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Figure 4

Schematic diagram of the 2-DOF SPM

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Figure 5

The reachable and task workspaces

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Figure 6

The distribution of κ(J) and σmin versus λb, given αa=αb=45deg, ϕ=10deg, and λa=0.2

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Figure 7

Given λb=1.0, the variation of σ¯min versus λa, αb, αb; and (a)ϕ=0deg, (b)ϕ=15deg

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Figure 8

The effect of ϕ on the distribution of σmin, where ϕ1>ϕ2>ϕ3

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Figure 9

Given β=30deg, αa=αb=45deg, λa=0.1–0.3, the variations of ∣ψ1(2)∣max, μ, σ¯min, and ϕ versus λb (1) λa=0.1, (2) λa=0.2, (3) λa=0.3

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Figure 10

The distribution of σmin in St: (a) Example 1; and (b) Example 2




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