Research Papers

Design of Parallel Mechanisms for Flexible Manufacturing With Reconfigurable Dynamics

[+] Author and Article Information
Gianmarc Coppola

Robotics and Automation Laboratory,
University of Ontario Institute of Technology,
Oshawa, ON, L1H 7K4,Canada
e-mail: gianmarc.coppola@uoit.ca

Dan Zhang

Robotics and Automation Laboratory,
University of Ontario Institute of Technology,
Oshawa, ON, L1H 7K4, Canada
e-mail: dan.zhang@uoit.ca

Kefu Liu

Department of Mechanical Engineering,
Lakehead University,
Thunder Bay, ON, P7B 5E1Canada
e-mail: kefu.liu@lakeheadu.ca

Zhen Gao

Robotics and Automation Laboratory,
University of Ontario Institute of Technology,
Oshawa, ON, L1H 7K4, Canada
e-mail: zhen.gao@uoit.ca

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received October 4, 2011; final manuscript received April 15, 2013; published online May 29, 2013. Assoc. Editor: Ashitava Ghosal.

J. Mech. Des 135(7), 071011 (May 29, 2013) (10 pages) Paper No: MD-11-1418; doi: 10.1115/1.4024366 History: Received October 04, 2011; Revised April 15, 2013

Reconfigurable robotic systems can enhance productivity and save costs in the ever growing flexible manufacturing regime. In this work, the idea to synthesize robotic mechanisms with dynamic properties that are reconfigurable is studied, and a methodology to design reconfigurable mechanisms with this property is proposed, named reconfigurable dynamics (Re-Dyn). The resulting designs have not only the kinematic properties reconfigurable, such as link lengths, but also properties that directly affect the forces and accelerations, such as masses and inertias. A 2-degree of freedom (DOF) parallel robot is used as a test subject. It is analyzed and redesigned with Re-Dyn. This work also presents the robots forward dynamic model in detail, which includes the force balancing mediums. The connection method is directly utilized for this derivation, which is well suited for multibody dynamics and provides insight for design parameters (DPs). Dynamic performance indices are also briefly discussed as related to the Re-Dyn method. After redesigning the robot, a full simulation is conducted to compare performances related to a flexible manufacturing situation. This illustrates the advantages of the proposed method.

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Fig. 1

Adjustable linkage for flexible manufacturing

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Fig. 2

Basic structure of the PM (without Re-Dyn)

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Fig. 3

Conceptual model of the PM

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Fig. 4

Motion screw representation

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Fig. 5

Vector diagram of the manipulator

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Fig. 6

Mechanism force balancing vector diagram

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Fig. 7

Parallel robot with Re-Dyn properties

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Fig. 8

Objective function convergence

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Fig. 9

FR1, Nominal (dashed) versus dynamically reconfigured (solid), reaction force

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Fig. 10

FR2, Nominal (dashed) versus Re-Dyn (solid), reaction force

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Fig. 11

FR2, tracking error, nominal (dashed), Re-Dyn (solid)

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Fig. 12

FR2, Control effort, nominal (dashed), Re-Dyn (solid)



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