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Research Papers: Mechanisms and Robotics

Design and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator With High-Load Carrying Capacity

[+] Author and Article Information
Sébastien Briot

Département de Génie Mécanique et Automatique, LGCGM A3913, Institut National des Sciences Appliquées (INSA), 20 Avenue des Buttes de Coësmes, CS 14315, F-35043 Rennes, Francesebastien.briot@ens.insa-rennes.fr

Vigen Arakelian

Département de Génie Mécanique et Automatique, LGCGM A3913, Institut National des Sciences Appliquées (INSA), 20 Avenue des Buttes de Coësmes, CS 14315, F-35043 Rennes, Francevigen.arakelyan@insa-rennes.fr

Sylvain Guégan

Département de Génie Mécanique et Automatique, LGCGM A3913, Institut National des Sciences Appliquées (INSA), 20 Avenue des Buttes de Coësmes, CS 14315, F-35043 Rennes, Francesylvain@insa-rennes.fr

PAMINSA: parallel manipulator of the INSA.

J. Mech. Des 130(12), 122303 (Oct 21, 2008) (7 pages) doi:10.1115/1.2991137 History: Received December 06, 2007; Revised May 21, 2008; Published October 21, 2008

In this paper, a new four degrees of freedom 3T1R parallel manipulator with high-load carrying capacity is presented. This manipulator generates Schönflies motions, in which the moving platform carries out three independent translations and one rotation about one axis of fixed orientation. The particularity of the proposed architecture is the decoupling of the displacements of the platform in the horizontal plane from the platform’s translation along the vertical axis. Such a decoupling allows the cancellation of the gravity loads on the actuators, which displace the platform in the horizontal plane. A prototype of the proposed manipulator with four degrees of freedom and an experimental validation of the suggested concept are also presented. Two cases have been examined on the built prototype: a manipulator with payload and one without. It was shown that the input torques of actuators displacing the platform in the horizontal plane for these two cases are the same; i.e., the payload does not bring any load to the actuators.

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Copyright © 2008 by American Society of Mechanical Engineers
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Figures

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Figure 1

PAMINSA: (a) kinematic chain of each leg; (b) 3D view

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Figure 2

The first model of PAMINSA

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Figure 3

Projection of the manipulator in the horizontal plane

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Figure 4

Two singular positions corresponding to ϕ1,2=±cos−1(Rpl/Rb)

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Figure 5

Singular configuration of the manipulator when the center S of the platform is on a circle of radius Rb2+Rpl2−2RbRpl cos ϕ

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Figure 6

Variations of the actuator torques for z=−0.6 m and ϕ=0 deg before (dark gray) and after (bright gray) static balancing of legs

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Figure 7

The prototype of PAMINSA developed in the INSA of Rennes

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Figure 8

Position of the platform for z=−0.6 m and ϕ=0 deg

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Figure 9

Counterweights mounted into the pantograph linkages

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Figure 10

Experimental bench

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Figure 11

Input torques/effort on the actuators with and without payload of 200 N. (a) Input torque of actuator M1. (b) Input torque of actuator M2. (c) Input torque of actuator M3. (d) Input force of actuator Mv.

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