0
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.

FIGURES IN THIS ARTICLE
<>
Copyright © 2013 by ASME
Your Session has timed out. Please sign back in to continue.

References

Li, Y., Wang, J., Liu, X.-J., and Wang, L.-P., 2010, “Dynamic Performance Comparison and Counterweight Optimization of Two 3-DOF Parallel Manipulators for a New Hybrid Machine Tool,” Mech. Mach. Theory, 45(11), pp. 1668–1680. [CrossRef]
Miller, K., 2004, “Optimal Design and Modeling of Spatial Parallel Manipulators.” Int. J. Rob. Res., 23(2), pp. 127–140. [CrossRef]
Sugimoto, K., 1987, “Kinematic and Dynamic Analysis of Parallel Manipulators by Means of Motor Algebra,” J. Mech., Transm., Autom. Des., 109(1), pp. 3–7. [CrossRef]
Lee, K. M., and Shah, D. K., 1988, “Dynamic Analysis of a Three-Degrees-of-Freedom in-Parallel Actuated Manipulator,” IEEE J. Rob. Autom., 4(3), pp. 361–367. [CrossRef]
Wu, J., Wang, J., Li, T., Wang, L., and Guan, L., 2008, “Dynamic Dexterity of a Planar 2-DOF Parallel Manipulator in a Hybrid Machine Tool,” Robotica, 26(1), pp. 93–98. [CrossRef]
Kane, T., and Levinson, D., 1985, Dynamics, Theory and Applications, McGraw-Hill, New York.
Huang, Q., Haadeby, H., and Sohlenius, G., 2002, “Connection Method for Dynamic Modelling and Simulation of Parallel Kinematic Mechanism (PKM) Machines,” Int. J. Adv. Manuf. Technol., 19, pp. 163–173. [CrossRef]
Qi, H., Liwen, G., Jinsong, W., and Liping, W., 2010, “GA-Based Dynamic Manipulability Optimization of a 2-DOF Planar Parallel Manipulator,” 2010 IEEE Conference on Robotics Automation and Mechatronics (RAM), pp. 46–51. [CrossRef]
Zhao, Y., and Gao, F., 2009, “Dynamic Formulation and Performance Evaluation of the Redundant Parallel Manipulator,” Rob. Comput.-Integr. Manufact., 25, pp. 770–781. [CrossRef]
Dasgupta, B., and Mruthyunjaya, T., 1998, “A Newton-Euler Formulation for the Inverse Dynamics of the Stewart Platform Manipulator,” Mech. Mach. Theory, 33(8), pp. 1135–1152. [CrossRef]
Zhang, C.-D., and Song, S.-M., 1993, “An Efficient Method for Inverse Dynamics of Manipulators Based on the Virtual Work Principle,” J. Rob. Syst., 10(5), pp. 605–627. [CrossRef]
Tadokoro, S., Kimura, I., and Takamori, T., 1991, “A Measure for Evaluation of Dynamic Dexterity Based on a Stochastic Interpretation of Manipulator Motion,” Fifth International Conference on Advanced Robotics, 1991, Robots in Unstructured Environments, 91 ICAR, Vol. 1, pp. 509–514.
Gregorio, R. D., and Parenti-Castelli, V., 2005, “On the Characterization of the Dynamic Performances of Planar Manipulators,” Meccanica, 40, pp. 267–279. [CrossRef]
Wang, L. P., Wang, J. S., and Chen, J., 2005, “The Dynamic Analysis of a 2-PRR Planar Parallel Mechanism,” Proc. Inst. Mech. Eng., Part C: J. Mech. Eng. Sci., 219(9), pp. 901–909. [CrossRef]
Wu, J., Wang, J., Wang, L., and Li, T., 2009, “Dynamics and Control of a Planar 3-DOF Parallel Manipulator With Actuation Redundancy,” Mech. Mach. Theory, 44(4), pp. 835–849. [CrossRef]
Jiang, Q., and Gosselin, C. M., 2010, “Dynamic Optimization of Reactionless Four-Bar Linkages,” ASME, J. Dyn. Syst., Meas., Control, 132(4), p. 041006. [CrossRef]
Gosselin, C. M., Vollmer, F., Cote, G., and Wu, Y., 2004, “Synthesis and Design of Reactionless Three-Degree-of-Freedom Parallel Mechanisms,” IEEE Trans. Rob. Autom., 20(2), pp. 191–199. [CrossRef]
Carricato, M., and Gosselin, C., 2009, “A Statically Balanced Gough/Stewart-Type Platform: Conception, Design, and Simulation,” J. Mech. Rob., 1(3), p. 031005. [CrossRef]
Briot, S., Bonev, I. A., Gosselin, C. M., and Arakelian, V., 2009, “Complete Shaking Force and Shaking Moment Balancing of Planar Parallel Manipulators With Prismatic Pairs,” Proc. Inst. Mech. Eng., Part K: J. Multi-Body Dyn., 223(1), pp. 43–52. [CrossRef]
Alici, G., and Shirinzadeh, B., 2004, “Optimum Dynamic Balancing of Planar Parallel Manipulators,” IEEE International Conference on Proceedings of Robotics and Automation, ICRA’04, Vol. 5, IEEE, pp. 4527–4532.
Fattah, A., and Agrawal, S. K., 2006, “On the Design of Reactionless 3-DOF Planar Parallel Mechanisms,” Mech. Mach. Theory, 41(1), pp. 70–82. [CrossRef]
Wu, Y., and Gosselin, C., 2005, “Design of Reactionless 3-DOF and 6-DOF Parallel Manipulators Using Parallelepiped Mechanisms,” IEEE Trans. Rob., 21(5), pp. 821–833. [CrossRef]
Van der Wijk, V., and Herder, J. L., 2009, “Synthesis of Dynamically Balanced Mechanisms by Using Counter-Rotary Countermass Balanced Double Pendula,” ASME, J. Mech. Des., 131(11), p. 111003. [CrossRef]
Lee, T. W., and Cheng, C., 1984, “Optimum Balancing of Combined Shaking Force, Shaking Moment, and Torque Fluctuations in High-Speed Linkages,” ASME J. Mech., Transm. Autom. Des., 106, pp. 242–251. [CrossRef]
Ouyang, P. R., and Zhang, W. J., 2005, “Force Balancing of Robotic Mechanisms Based on Adjustment of Kinematic Parameters,” ASME, J. Mech. Des., 127(3), pp. 433–440. [CrossRef]
Hong, B., and Erdman, A. G., 2005, “A Method for Adjustable Planar and Spherical Four-Bar Linkage Synthesis,” ASME, J. Mech. Des., 127(3), pp. 456–463. [CrossRef]
Park, J. H., and Asada, H., 1994, “Concurrent Design Optimization of Mechanical Structure and Control for High Speed Robots,” ASME, J. Dyn. Syst., Meas., Control, 116(3), pp. 344–356. [CrossRef]
Pil, A. C., and Asada, H. H., 1996, “Integrated Structure/Control Design of Mechatronic Systems Using a Recursive Experimental Optimization Method,” IEEE/ASME Trans. Mechatron., 1(3), pp. 191–203. [CrossRef]
Li, Q., Zhang, W. J., and Chen, L., 2001, “Design for Control-A Concurrent Engineering Approach for Mechatronic Systems Design,” IEEE/ASME Trans. Mechatron., 6(2), pp. 161–169. [CrossRef]
Li, Q., and Wu, F. X., 2004, “Control Performance Improvement of a Parallel Robot Via the Design for Control Approach,” Mechatronics, 14(8), pp. 947–964. [CrossRef]
Ouyang, P. R., Li, Q., and Zhang, W. J., 2003, “Integrated Design of Robotic Mechanisms for Force Balancing and Trajectory Tracking,” Mechatronics, 13(8–9), pp. 887–905. [CrossRef]
McGovern, J., and Sandor, G. N., 1973, “Kinematic Synthesis of Adjustable Mechanisms, Part 1: Function Generation,” ASME Mechanisms Conference, pp. 417–422.
McGovern, J., and Sandor, G. N., 1973, “Kinematic Synthesis of Adjustable Mechanisms, Part 2: Path Generation,” ASME Mechanisms Conference, pp. 423–429.
Chuenchom, T., and Kota, S., 1994, “Analytical Synthesis of Adjustable Dyads and Triads for Designing Adjustable Mechanisms,” Proceedings of the ASME Design Technical Conference, Vol. 70, pp. 467–477.
Bi, Z., and Wang, L., 2009, “Optimal Design of Reconfigurable Parallel Machining Systems,” Rob. Comput.-Integr. Manufact., 25(6), pp. 951–961. [CrossRef]
Peng, C., 2010, “Optimal Synthesis of Planar Adjustable Mechanisms,” Ph.D. thesis, New Jersey Institute of Technology, Newark, NJ.
Dai, J., Huang, Z., and Lipkin, H., 2006, “Mobility of Overconstrained Parallel Mechanisms,” ASME, J. Mech. Des., 128(1), pp. 220–229. [CrossRef]
Coppola, G., Zhang, D., Liu, K., and Gao, Z., 2012, “Dynamic Performance With Control of a 2-DOF Parallel Robot,” ASME IDETC/CIE.
Gosselin, C., 1988, “Kinematic Analysis, Optimization and Programming of Parallel Robotic Manipulators,” Ph.D. thesis, McGill University, Montreal, Québec.
Suh, N. P., 2001, Axiomatic Design: Advances and Applications (The Oxford Series on Advanced Manufacturing), Oxford University Press, New York, NY.

Figures

Grahic Jump Location
Fig. 1

Adjustable linkage for flexible manufacturing

Grahic Jump Location
Fig. 2

Basic structure of the PM (without Re-Dyn)

Grahic Jump Location
Fig. 3

Conceptual model of the PM

Grahic Jump Location
Fig. 4

Motion screw representation

Grahic Jump Location
Fig. 5

Vector diagram of the manipulator

Grahic Jump Location
Fig. 6

Mechanism force balancing vector diagram

Grahic Jump Location
Fig. 7

Parallel robot with Re-Dyn properties

Grahic Jump Location
Fig. 8

Objective function convergence

Grahic Jump Location
Fig. 9

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

Grahic Jump Location
Fig. 10

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

Grahic Jump Location
Fig. 11

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

Grahic Jump Location
Fig. 12

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

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In