Abstract
The high-speed parallel robots with 3T1R (3T: three translations; 1R: one rotation) motions have been widely utilized in pick-and-place applications such as packaging, sorting, and assembling in light industries. However, most high-speed 3T1R parallel robots have highly coupled motions, which lead to highly nonlinear control models and complex control processes. Besides, some of these robots don’t have the rotational capability to well meet the requirements of full-circle rotation operation on the production line. In this paper, two novel motion-decoupled high-speed 3T1R parallel robots with full rotational capability are proposed to address the above challenges. Each robot has four identical limbs, in which the three translations are realized by the first three limbs, and the rotation is realized by the fourth limb plus a rack-and-pinion or screw-and-nut mechanism. The motion/force transmissibilities of the two robots are analyzed and compared by using several well-defined indices. The results show that each robot has its strengths and weaknesses compared with the other.
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Acknowledgements
This work was supported by the National Natural Science Foundation of China (Grant No. 52105026) and the China Postdoctoral Science Foundation (Grant No. 2021TQ0176), as well as the Shuimu Tsinghua Scholar Program (Grant No. 2020SM081).
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Yuan, X., Meng, Q., Xie, F., Nie, Z., Liu, XJ. (2021). Design and Motion/Force Transmissibility Analysis of Two Motion-Decoupled 3T1R Parallel Robots with Full Rotational Capability. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13015. Springer, Cham. https://doi.org/10.1007/978-3-030-89134-3_42
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