Research Papers

Design of a Novel 4-DOF Kinematotropic Hybrid Parallel Manipulator

[+] Author and Article Information
Qiang Zeng1

Robotics Research Laboratory, School of Mechanical and Electrical Control Engineering,  Beijing Jiaotong University, Beijing 100044, P. R. C.07116302@bjtu.edu.cn

Yuefa Fang

Robotics Research Laboratory, School of Mechanical and Electrical Control Engineering,  Beijing Jiaotong University, Beijing 100044, P. R. C.

Kornel F. Ehmann

Department of Mechanical Engineering,  Northwestern University, 2145 Sheridan Road, Evanston, IL 60208-3111


Corresponding author.

J. Mech. Des 133(12), 121006 (Dec 09, 2011) (9 pages) doi:10.1115/1.4005233 History: Received April 25, 2011; Revised September 26, 2011; Published December 09, 2011; Online December 09, 2011

This paper presents a novel 4-DOF kinematotropic hybrid parallel manipulator. The topological structure allows for the realization of two translatory and two rotary output motions. Both the translations and rotations take place only in two orthogonal axes. The rotations are designed to possess the kinematotropic property, namely the output mobility of the manipulator can be changed while the topological structure remains invariable. In the process of the topological synthesis, two types of topological arrangements of the kinematotropic hybrid parallel manipulators are developed in the form of multiply moving platforms and subchains based on displacement group theory and mathematical logic. Kinematic modeling of the most feasible kinematotropic hybrid parallel manipulator is performed by obtaining its kinematic forward and inverse solutions and velocities. Suitable drive methods are also defined. At last, a prototype of the analyzed kinematotropic hybrid parallel manipulator is built to evaluate the feasibility of the developed design method, validate the kinematic modeling, and establish the manipulator’s kinematotropic properties.

Copyright © 2011 by American Society of Mechanical Engineers
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Figure 1

Two types of topological arrangements

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Figure 2

The topological synthesis of subchains between moving platform PO and P1–P4

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Figure 3

The topological synthesis of subchains between platform PF and P1

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Figure 4

The topological synthesis of KHPM-I

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Figure 5

The topological synthesis of KHPM-II

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Figure 6

Moving reference plane κ12 and moving reference frame

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Figure 7

Output motions in moving reference plane κ12

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Figure 8

Motions of moving reference planes κ12 and κ34

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Figure 9

Constraint relations of projection motions in plane xOy

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Figure 10

Input variables in the feasible workspace

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Figure 11

Application of KHPM-I




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