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Research Papers

Optimal Design of Spherical 5R Parallel Manipulators Considering the Motion/Force Transmissibility

[+] Author and Article Information
Chao Wu

Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, People’s Republic of Chinawu-c06@mail.tsinghua.edu.cn

Xin-Jun Liu1

Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, People’s Republic of Chinaxinjunliu@mail.tsinghua.edu.cn

Liping Wang

Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, People’s Republic of Chinalpwang@mail.tsinghua.edu.cn

Jinsong Wang

Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, People’s Republic of Chinawangjs@mail.tsinghua.edu.cn

1

Corresponding author.

J. Mech. Des 132(3), 031002 (Mar 11, 2010) (10 pages) doi:10.1115/1.4001129 History: Received August 14, 2009; Revised January 10, 2010; Published March 11, 2010; Online March 11, 2010

The spherical 5R parallel manipulator is a typical parallel manipulator. It can be used as a pointing device or as a minimally invasive surgical robot. This study addresses the motion/force transmission analysis and optimization of the manipulator by taking into account the motion/force transmissibility. The kinematics of the manipulator is analyzed. Several transmission indices are defined by using screw theory for the performance evaluation and dimensional synthesis. The process of determining the optimal angular parameters based on performance charts is presented. The manipulator that has a large workspace and good motion/force transmissibility is identified.

Copyright © 2010 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

A spherical 5R parallel manipulator: (a) kinematic structure and (b) kinematic scheme

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Figure 2

Workspace representation of the spherical 5R parallel manipulator

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Figure 3

Four working modes: (a) ++ mode, (b) +− mode, (c) −+ mode, and (d) −− mode

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Figure 4

Two assembly modes: (a) up and (b) down configurations

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Figure 5

Design space of the spherical 5R parallel manipulator

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Figure 6

The design space when α0=45 deg

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Figure 7

The usable workspace area of the spherical 5R parallel manipulator at α0=30 deg, α1=60 deg, and α2=70 deg

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Figure 8

Usable workspace area in the design space when α0=30 deg: (a) up and (b) down configurations

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Figure 9

Usable workspace area in the design space when α0=45 deg: (a) up and (b) down configurations

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Figure 10

Usable workspace area in the design space when α0=60 deg: (a) up and (b) down configurations

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Figure 11

Usable workspace shape in the design space when α0=45 deg

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Figure 12

Relationship between the corresponding vectors of leg 1

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Figure 13

A planar four-bar mechanism

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Figure 14

GTW and GTI in the design space when α0=30 deg: (a) areas of GTW and (b) GTI

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Figure 15

GTW and GTI in the design space when α0=45 deg: (a) areas of GTW and (b) GTI

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Figure 16

GTW and GTI in the design space when α0=60 deg: (a) areas of GTW and (b) GTI

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Figure 17

GTW shape in the design space when α0=45 deg

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Figure 18

The design space when α2=90 deg

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Figure 19

GTW and GTI in the design space when α2=90 deg: (a) areas of GTW and (b) GTI

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Figure 20

The GTW shape in the design space when α2=90 deg

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Figure 21

Optimum regions in the design space for the spherical 5R parallel manipulator when GTW≥3.0 and GTI≥0.9

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Figure 22

The GTW of the spherical 5R parallel manipulator: (a) α0=15 deg, α1=120 deg, and α2=90 deg and (b) α0=75 deg, α1=60 deg, and α2=90 deg

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