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Research Papers: Design of Mechanisms and Robotic Systems

Design of a Spatial Translation Mechanism by Optimizing Spatial Ground Structures and Its Kinematic Analysis

[+] Author and Article Information
Weidong Yu

State Key Laboratory of
Mechanical System and Vibration,
Shanghai Key Laboratory of Digital Manufacture
for Thin-walled Structures,
Shanghai Jiao Tong University,
Shanghai 200240, China
e-mail: yuweidong@sjtu.edu.cn

Hao Wang

Professor
State Key Laboratory of
Mechanical System and Vibration,
Shanghai Key Laboratory of Digital Manufacture
for Thin-walled Structures,
Shanghai Jiao Tong University,
Shanghai 200240, China
e-mail: wanghao@sjtu.edu.cn

Genliang Chen

State Key Laboratory of
Mechanical System and Vibration,
Shanghai Key Laboratory of Digital Manufacture
for Thin-walled Structures,
Shanghai Jiao Tong University,
Shanghai 200240, China
e-mail: leungchan@sjtu.edu.cn

Longhai Zhao

State Key Laboratory of
Mechanical System and Vibration,
Shanghai Key Laboratory of Digital Manufacture
for Thin-walled Structures,
Shanghai Jiao Tong University,
Shanghai 200240, China
e-mail: fhqdxitx1988@sjtu.edu.cn

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received January 14, 2018; final manuscript received May 5, 2018; published online June 1, 2018. Assoc. Editor: Dar-Zen Chen.

J. Mech. Des 140(8), 082304 (Jun 01, 2018) (15 pages) Paper No: MD-18-1033; doi: 10.1115/1.4040269 History: Received January 14, 2018; Revised May 05, 2018

In our previous work, we designed a three-degrees-of-freedom (3DOF) translational parallel mechanism based on a proposed design strategy. In this paper, the design strategy is further improved, and a novel spatial translation mechanism (STM) is found. The novel STM consists of a platform, a base, and six modules between the platform and the base. Each module is a passive planar 6R single-loop closed chain, and it is connected with two other modules. Meanwhile, three modules are connected to the base, and the other three modules are connected to the platform. All the connections among the modules, platform, and base are realized by revolute joints. There are no obvious limbs in the mechanism due to the complex connections. The mobility of the STM is analyzed, and the forward kinematics is investigated. To validate the effectiveness and feasibility of the design, one prototype is fabricated. At the end of the paper, we draw some conclusions and discuss the future works.

Copyright © 2018 by ASME
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Figures

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Fig. 1

The flowchart of the improved design strategy

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Fig. 2

The constitution of the ground structure: (a) truncated octahedron, (b) the ground structure, and (c) two types of NMCs

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Fig. 3

The structures of the modules: (a) the MC proposed by Laliberté and Gosselin, (b) the hexagonal module, and (c) the square module

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Fig. 4

The parametrization of the most complex case

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Fig. 5

Six obtained optimal mechanisms

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Fig. 6

The topological graph of the novel STM

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Fig. 7

The optimization process of the novel STM: (a) initial spatial ground structure; (b) first iteration, the HMC of F3 is replaced by a hexagonal module and the SMC of F7 is deleted; (c) second iteration, the HMCs of F8 and F12 are replaced by hexagonal modules; (d) third iteration, the HMCs of F1 and F5 are replaced by hexagonal modules; (e) fourth iteration, the SMC of F4 is replaced by a square module; (f) fifth iteration, the HMC of F10 is replaced by a hexagonal module; (g) sixth iteration, the SMC of F11 is deleted; (h) seventh iteration, the SMC of F6 is deleted; and (i) eighth iteration, the SMCs of F2, F9, and square module of F4 are deleted

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Fig. 8

The values for the objective function for optimization

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Fig. 9

Schematic representation of partial STM

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Fig. 10

The schematic representation of the STM

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Fig. 11

The results of the forward kinematics

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Fig. 12

ϕg+ϕg+1=180deg(g=1,3,5) in a hexagonal module

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Fig. 13

The construction procedure of the workspace

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Fig. 14

The workspace of the STM: (a) the three-dimensional workspace and (b) the top view of the workspace

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Fig. 15

The CAD model and the fabricated prototype: (a) the CAD model and (b) the fabricated prototype

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Fig. 16

The platform moving along three axes: (a) the positive direction of axis zb, (b) the negative direction of axis xb, and (c) the positive direction of axis yb

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Fig. 17

Three limit poses: (a) the lowest pose, (b) the highest pose, and (c) the far left pose

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Fig. 18

The adjacent matrix of the most complex case

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