Skip to main content
SpringerLink
Log in

Type Synthesis and Kinematics Performance Analysis of a Class of 3T2R Parallel Mechanisms with Large Output Rotational Angles

  • Research Article
  • Published:
International Journal of Automation and Computing Aims and scope Submit manuscript

Abstract

Based on Lie group theory and the integration of configuration, a class of 3T2R (T denotes translation and R denotes rotation) parallel mechanisms with large output rotational angles is synthesized through a five degree of freedom single limb evolving into two five degree of freedom limbs and constraint coupling of each kinematics chain. A kind of 3T2R parallel mechanisms with large rotational angles was selected from type synthesis of 3T2R parallel mechanisms, inverse kinematics and velocity Jacobian matrix of the parallel mechanism are established. The performance indices including workspace, rotational capacity, singularity and dexterity of the parallel mechanism are analyzed. The results show that the parallel mechanism has not only large output rotational angles but also better dexterity.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. V. Sangveraphunsiri, K. Chooprasird. Dynamics and control of a 5-DOF manipulator based on an H-4 parallel mechanism. The International Journal of Advanced Manufacturing Technology, vol. 52, no. 1–4, pp. 343–364, 2011. DOI: https://doi.org/10.1007/s00170-010-2722-3.

    Article  Google Scholar 

  2. J. P. Gazeau, Z. Said, G. Ramirez-Torres. A novel 5-axis robot for printing high resolution pictures from media on 3D wide surfaces. In Proceedings of IEEE International Conference on Industrial Technology, IEEE, Gippsland, Australia, 2009. DOI: https://doi.org/10.1109/ICIT.2009.4939735.

    Google Scholar 

  3. Y. M. Song, G. Dong, T. Sun, B. B. Lian. Elasto-dynamic analysis of a novel 2-DoF rotational parallel mechanism with an articulated travelling platform. Meccanica, vol. 51, no. 7, pp. 1547–1557, 2016. DOI: https://doi.org/10.1007/s11012-014-0099-3.

    Article  MathSciNet  Google Scholar 

  4. S. Shayya, S. Krut, O. Company, C. Baradat, F. Pierrot. A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability. In Proceedings of IEEE International Conference on Robotics and Automation, IEEE, Hong Kong, China, 2014. DOI: https://doi.org/10.1109/ICRA.2014.6907699.

    Google Scholar 

  5. M. T. Masouleh, C. Gosselin, M. Husty, D. R. Walter. Forward kinematic problem of 5-RPUR parallel mechanisms (3T2R) with identical limb structures. Mechanism and Machine Theory, vol. 46, no. 7, pp. 945–959, 2011. DOI: https://doi.org/10.1016/j.mechmachtheory.2011.02.005.

    Article  Google Scholar 

  6. M. T. Masouleh, C. Gosselin. Singularity analysis of 5-RPUR parallel mechanisms (3T2R). The International Journal of Advanced Manufacturing Technology, vol. 57, no. 9–12, pp. 1107–1121, 2011. DOI: https://doi.org/10.1007/s00170-011-3349-8.

    Article  Google Scholar 

  7. M. T. Masouleh, M. Husty, C. Gosselin. Forward kinematic problem of 5-PRUR parallel mechanisms using study parameters. Advances in Robot Kinematics: Motion in Man and Machine. J. Lenarcic, M. M. Stanisic, Eds., Dordrecht, Netherlands: Springer, 2010. DOI: https://doi.org/10.1007/978-90-481-9262-5_23.

    Google Scholar 

  8. M. H. Saadatzi, M. T. Masouleh, H. D. Taghirad. Workspace analysis of 5-PRUR parallel mechanisms. Robotics and Computer-integrated Manufacturing, vol. 28, no. 3, pp. 437–488, 2012. DOI: https://doi.org/10.1016/j.rcim.2011.12.002.

    Article  Google Scholar 

  9. C. Z. Wang, Y. F. Fang, H. R. Fang. Novel 2R3T and 2R2T parallel mechanisms with high rotational capability. Robotica, vol. 35, no. 2, pp. 401–418, 2017. DOI: https://doi.org/10.1017/S0263574715000636.

    Article  Google Scholar 

  10. L. Cheng, Y. F. Zhao, Y. S. Zhao. Motion control algorithm of a 5-DOF parallel machine tool. In Proceedings of IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, Sanya, China, pp. 2194–2199, 2007. DOI: https://doi.org/10.1109/ROBIO.2007.4522510.

    Google Scholar 

  11. L. Cheng, H. B. Wang, Y. S. Zhao. Analysis and experimental investigation of parallel machine tool with redundant actuation. Proceedings of the 1st International Conference on Intelligent Robotics and Applications, Springer, Wuhan, China, pp. 179–188, 2008. DOI: https://doi.org/10.1007/978-3-540-88513-9_20.

    Chapter  Google Scholar 

  12. L. Cai. Kinematic analysis of 5-UPS parallel machine tool based on Adams. Applied Mechanics and Materials, vol. 644–650, pp. 215–219, 2014. DOI: https://doi.org/10.4028/www.scientific.net/AMM.644-650.215.

    Article  Google Scholar 

  13. Y. M. Song, J. T. Zhang, B. B. Lian, T. Sun. Kinematic calibration of a 5-DoF parallel kinematic machine. Precision Engineering, vol. 45, pp. 242–261, 2016. DOI: https://doi.org/10.1016/j.precisioneng.2016.03.002.

    Article  Google Scholar 

  14. F. G. Xie, X. J. Liu, J. S. Wang, M. Wabner. Kinematic optimization of a five degrees-of-freedom spatial parallel mechanism with large orientational workspace. Journal of Mechanisms and Robotics, vol. 9, no. 5, Article number 051005, 2017. DOI: https://doi.org/10.1115/1.4037254.

    Google Scholar 

  15. F. G. Xie, X. J. Liu, X. Luo, M. Wabner. Mobility, singularity, and kinematics analyses of a novel spatial parallel mechanism. Journal of Mechanisms and Robotics, vol. 8, no. 6, Article number 061022, 2016. DOI: https://doi.org/10.1115/1.4034886.

    Google Scholar 

  16. X. D. Jin, Y. F. Fang, H. B. Qu, S. Guo. A class of novel 2T2R and 3T2R parallel mechanisms with large decoupled output rotational angles. Mechanism and Machine Theory, vol. 114, pp. 156–169, 2017. DOI: https://doi.org/10.1016/j.mechmachtheory.2017.04.003.

    Article  Google Scholar 

  17. F. G. Xie, X. J. Liu, Z. You, J. S. Wang. Type synthesis of 2T1R-type parallel kinematic mechanisms and the application in manufacturing. Robotics and Computer-integrated Manufacturing, vol. 30, no. 1, pp. 1–10, 2014. DOI: https://doi.org/10.1016/j.rcim.2013.07.002.

    Article  Google Scholar 

  18. Y. Lu, R. F. Bo, P. S. Feng, R. Q. Li. Mechanism design and kinematics analysis of five-axis linkage hybrid kinematics machine with large pendulum angle. Journal of Mechanical Transmission, vol. 40, no. 10, pp. 38–42, 2016. DOI: https://doi.org/10.16578/j.issn.1004.2539.2016.10.008. (in Chinese)

    Google Scholar 

  19. W. Y. Lin, B. Li, X. J. Yang, D. Zhang. Modelling and control of inverse dynamics for a 5-DOF parallel kinematic polishing machine. International Journal of Advanced Robotic Systems, vol. 10, no. 8, Article number 314, 2013. DOI: https://doi.org/10.5772/54966.

    Google Scholar 

  20. S. Krut, O. Company, S. Rangsri, F. Pierrot. Eureka: A new 5-degree-of-freedom redundant parallel mechanism with high tilting capabilities. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Las Vegas, USA, vol. 3, pp. 3575–3580, 2003. DOI: https://doi.org/10.1109/IROS.2003.1249710.

  21. C. X. Fan, H. Z. Liu, Y. B. Zhang. Type synthesis of 2T2R, 1T2R and 2R parallel mechanisms. Mechanism and Machine Theory, vol. 61, pp. 184–190, 2013. DOI: https://doi.org/10.1016/j.mechmachtheory.2012.10.006.

    Article  Google Scholar 

  22. C. Gosselin, J. Angeles. Singularity analysis of closed-loop kinematic chains. IEEE Transactions on Robotics and Automation, vol. 6, no. 3, pp. 281–290, 1990. DOI: https://doi.org/10.1109/70.56660.

    Article  Google Scholar 

  23. M. Mazare, M. Taghizadeh, M. R. Najafi. Kinematic analysis and design of a 3-DOF translational parallel robot. International Journal of Automation and Computing, vol. 14, no. 4, pp. 432–441, 2017. DOI: https://doi.org/10.1007/s11633-017-1066-y.

    Article  Google Scholar 

  24. H. Q. Zhang, H. R. Fang, B. S. Jiang, S. G. Wang. Dynamic performance evaluation of a redundantly actuated and over-constrained parallel manipulator. International Journal of Automation and Computing, vol. 16, no. 3, pp. 274–285, 2019. DOI: https://doi.org/10.1007/s11633-018-1147-6.

    Article  Google Scholar 

Download references

Acknowledgements

This work was supported by Fundamental Research Funds for the Central Universities (No. 2018JBZ007).

Author information

Authors and Affiliations

  1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, 100044, China

    Bing-Shan Jiang, Hai-Rong Fang & Hai-Qiang Zhang

Authors
  1. Bing-Shan Jiang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Hai-Rong Fang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Hai-Qiang Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Hai-Rong Fang.

Additional information

Recommended by Associate Editor Xun Xu

Bing-Shan Jiang received the B. Eng. degree in mechanical electronic engineering from Liaoning Technical University, China in 2015, and the M. Eng. degree in mechanical engineering from Liaoning Technical University, China in 2017. He is currently a Ph. D. candidate in mechanical engineering at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China.

His research interests include synthesis, kinematics, dynamics and control of parallel robots.

Hai-Rong Fang received the B. Eng. degree in mechanical engineering from Nanjing University of Science and Technology, China in 1990, the M. Eng. degree in mechanical engineering from Sichuan University, China in 1996, and the Ph. D. degree in mechanical engineering from Beijing Jiaotong University, China in 2005. She worked as associate professor in Department of Engineering Mechanics at Beijing Jiaotong University, China from 2003 to 2011. She is a professor in School of Mechanical Engineering from 2011 and director of Robotics Research Center.

Her research interests include parallel mechanisms, digital control, robotics and automation, machine tool equipment.

Hai-Qiang Zhang received the B. Eng. degree in mechanical design and theories from Yantai University, China in 2012, the M. Eng. degree in mechanical engineering from Hebei University of Engineering, China in 2015. He is a Ph. D. candidate in mechanical engineering at Beijing Jiaotong University, China.

His research interests include robotics in computer integrated manufacturing, parallel kinematics machine tool, redundant actuation robots, over-constrained parallel manipulators, and multi-objective optimization design.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Jiang, BS., Fang, HR. & Zhang, HQ. Type Synthesis and Kinematics Performance Analysis of a Class of 3T2R Parallel Mechanisms with Large Output Rotational Angles. Int. J. Autom. Comput. 16, 775–785 (2019). https://doi.org/10.1007/s11633-019-1192-9

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11633-019-1192-9

Keywords

Search

Navigation