Proposal of Link Composition for Rotational Parallel Mechanism with Pin Joints and Investigation of Movable  Area

Kazuya Okawa; Yoshihiro Okamura

doi:10.20965/ijat.2012.p0004

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IJAT Vol.6 No.1 pp. 4-12

doi: 10.20965/ijat.2012.p0004

(2012)

Paper:

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Proposal of Link Composition for Rotational Parallel Mechanism with Pin Joints and Investigation of Movable Area

Kazuya Okawa and Yoshihiro Okamura

Mechanical System Science Course, Graduate School of Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan

Received:

July 1, 2011

Accepted:

July 12, 2011

Published:

January 5, 2012

Keywords:

parallel mechanism, singular configuration, transmission index, angle of inclination

Abstract

This paper describes a proposal of link composition for a parallel mechanism with pin joints. The maximum angle of inclination by general parallel mechanism with ball joints is about 55 degrees because of the limitations in the angles of those joints. Therefore, a novel parallel mechanism that will replace ball joints by the pin joints with wide movable angle is proposed. Moreover, three kinds of link compositions: an outside type, an inside type and a combination type are proposed. The transmission index is investigated on these three types, and it has been understood that the combination type is able to move in the widest area. It was confirmed that the inclination angle of the end effector can go up to 90 degrees by simulations and experiments that proved effectiveness.

Cite this article as:

K. Okawa and Y. Okamura, “Proposal of Link Composition for Rotational Parallel Mechanism with Pin Joints and Investigation of Movable Area,” Int. J. Automation Technol., Vol.6 No.1, pp. 4-12, 2012.

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References

[1] D. Stewart, “A Platform with Six Degrees of Freedom,” Proc. of the Institution of Mechanical Engineers, Part 1, Vol.180, No.15, pp. 371-386, 1965.
[2] T. Arai, “Analysis and Synthesis of a Parallel Link Manipulator Based on Its Statics,” J. of the Robotics Society of Japan, Vol.10, No.4, pp. 526-533, 1992. (in Japanese)
[3] K. Sugimoto, “Kinematics and Dynamics of Parallel Mechanisms,” J. of the Japan Society for Precision Engineering, Vol.63, No.12, pp. 1646-1650, 1997. (in Japanese)
[4] Y. Takeda, “Kinematic Design of In-Parallel Actuated Mechanisms,” J. of the Japan Society for Precision Engineering, Vol.63, No.12, pp. 1651-1654, 1997. (in Japanese)
[5] T. Oiwa, “New Coordinate Measuring Machine Using Parallel Mechanism – Fundamentals and Kinematics –,” J. of the Japan Society for Precision Engineering, Vol.64, No.12, pp. 1791-1795, 1998. (in Japanese)
[6] P. B. Horin and M. Shoham, “Application of Grassmann Cayley Algebra to Geometrical Interpretation of Parallel Robot,” The Int. J. of Robotics Research, Vol.28, No.1, pp. 127-141, 2009.
[7] T. Yamamoto and T. Oiwa, “Link Layout Optimization for Parallel Mechanism Using Genetic Algorithm,” J. of the Japan Society for Precision Engineering, Vol.67, No.10, pp. 1652-1656, 2001. (in Japanese)
[8] Y. Takeda, K. Kamiyama, Y. Maki, M. Higuchi, and K. Sugimoto, “Development of Position-Orientation Decoupled Spatial In-Parallel Actuated Mechanisms with Six Degrees of Freedom,” Trans. of the Japan Society of Mechanical Engineers Series C, Vol.71, No.705, pp. 1717-1725, 2005. (in Japanese)
[9] M. Uchiyama, K. Iimura, S. Tarao, P. François, and O. Toyama, “Development of a 6-DOF High-Speed Parallel Robot HEXA,” J. of the Robotics Society of Japan, Vol.12, No.3, pp. 451-458, 1994. (in Japanese)
[10] H. Masuda, M. Fujiwara, and T. Arai, “Specific Kinematic Changes in a Linear-Actuated Parallel Mechanism According to Differences in Actuator Arrangement,” Trans. of the Japan Society of Mechanical Engineers Series C, Vol.67, No.659, pp. 2252-2257, 2001. (in Japanese)
[11] Y. Takeda and H. Funabashi, “Motion Transmissibility of In-Parallel Wire-Driven Mechanisms,” Trans. of the Japan Society of Mechanical Engineers Series C, Vol.65, No.634, pp. 2521-2527, 1999. (in Japanese)
[12] J. Kim, F. C. Park, and J. M. Lee, “A New Parallel Mechanism Machine Tool Capable of Five-Face Machining,” CIRP Annals – Manufacturing Technology, Vol.48, Issue 1, pp. 337-340, 1999.
[13] J. Kim, J. C. Hwang, J. S. Kim, C. C. Iurascu, F. C. Park, and Y. M. Cho, “Eclipse II: A New Parallel Mechanism Enabling Continuous 360-Degree Spinning Plus Three-Axis Translational Motions,” IEEE Trans. on Robotics and Automation, Vol.18, No.3, pp. 367-373, 2002.
[14] J. P. Merlet, “Singular Configurations of Parallel Manipulators and Grassmann Geometry,” The Int. J. of Robotics Research, Vol.8, No.5, pp. 45-56, 1989.
[15] G. Gosselin and J. Angeles, “Singularity analysis of Closedloop Kinematic Chains,” IEEE Trans. on Robotics and Automation, Vol.6, No.3, pp. 281-290, 1990.
[16] K. Sugimoto, “On the Singular Point of Mechanisms,” J. of the Robotics Society of Japan, Vol.11, No.4, pp. 550-556, 1993. (in Japanese)
[17] Y. Takeda and H. Funabashi, “Kinematic and Static Characteristics of In-Parallel Actuated Manipulators at Singular Points and in Their Neighborhoods,” Trans. of the Japan Society of Mechanical EngineersSeries C, Vol.60, No.570, pp. 701-708, 1994. (in Japanese)
[18] Y. Takeda and H. Funabashi, “Motion Transmissibility in Parallel Manipulators,” Trans. of the Japan Society ofMechanical Engineers Series C, Vol.59, No.560, pp. 1142-1147, 1993. (in Japanese)

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] D. Stewart, “A Platform with Six Degrees of Freedom,” Proc. of the Institution of Mechanical Engineers, Part 1, Vol.180, No.15, pp. 371-386, 1965.

[2] [2] T. Arai, “Analysis and Synthesis of a Parallel Link Manipulator Based on Its Statics,” J. of the Robotics Society of Japan, Vol.10, No.4, pp. 526-533, 1992. (in Japanese)

[3] [3] K. Sugimoto, “Kinematics and Dynamics of Parallel Mechanisms,” J. of the Japan Society for Precision Engineering, Vol.63, No.12, pp. 1646-1650, 1997. (in Japanese)

[4] [4] Y. Takeda, “Kinematic Design of In-Parallel Actuated Mechanisms,” J. of the Japan Society for Precision Engineering, Vol.63, No.12, pp. 1651-1654, 1997. (in Japanese)

[5] [5] T. Oiwa, “New Coordinate Measuring Machine Using Parallel Mechanism – Fundamentals and Kinematics –,” J. of the Japan Society for Precision Engineering, Vol.64, No.12, pp. 1791-1795, 1998. (in Japanese)

[6] [6] P. B. Horin and M. Shoham, “Application of Grassmann Cayley Algebra to Geometrical Interpretation of Parallel Robot,” The Int. J. of Robotics Research, Vol.28, No.1, pp. 127-141, 2009.

[7] [7] T. Yamamoto and T. Oiwa, “Link Layout Optimization for Parallel Mechanism Using Genetic Algorithm,” J. of the Japan Society for Precision Engineering, Vol.67, No.10, pp. 1652-1656, 2001. (in Japanese)

[8] [8] Y. Takeda, K. Kamiyama, Y. Maki, M. Higuchi, and K. Sugimoto, “Development of Position-Orientation Decoupled Spatial In-Parallel Actuated Mechanisms with Six Degrees of Freedom,” Trans. of the Japan Society of Mechanical Engineers Series C, Vol.71, No.705, pp. 1717-1725, 2005. (in Japanese)

[9] [9] M. Uchiyama, K. Iimura, S. Tarao, P. François, and O. Toyama, “Development of a 6-DOF High-Speed Parallel Robot HEXA,” J. of the Robotics Society of Japan, Vol.12, No.3, pp. 451-458, 1994. (in Japanese)

[10] [10] H. Masuda, M. Fujiwara, and T. Arai, “Specific Kinematic Changes in a Linear-Actuated Parallel Mechanism According to Differences in Actuator Arrangement,” Trans. of the Japan Society of Mechanical Engineers Series C, Vol.67, No.659, pp. 2252-2257, 2001. (in Japanese)

[11] [11] Y. Takeda and H. Funabashi, “Motion Transmissibility of In-Parallel Wire-Driven Mechanisms,” Trans. of the Japan Society of Mechanical Engineers Series C, Vol.65, No.634, pp. 2521-2527, 1999. (in Japanese)

[12] [12] J. Kim, F. C. Park, and J. M. Lee, “A New Parallel Mechanism Machine Tool Capable of Five-Face Machining,” CIRP Annals – Manufacturing Technology, Vol.48, Issue 1, pp. 337-340, 1999.

[13] [13] J. Kim, J. C. Hwang, J. S. Kim, C. C. Iurascu, F. C. Park, and Y. M. Cho, “Eclipse II: A New Parallel Mechanism Enabling Continuous 360-Degree Spinning Plus Three-Axis Translational Motions,” IEEE Trans. on Robotics and Automation, Vol.18, No.3, pp. 367-373, 2002.

[14] [14] J. P. Merlet, “Singular Configurations of Parallel Manipulators and Grassmann Geometry,” The Int. J. of Robotics Research, Vol.8, No.5, pp. 45-56, 1989.

[15] [15] G. Gosselin and J. Angeles, “Singularity analysis of Closedloop Kinematic Chains,” IEEE Trans. on Robotics and Automation, Vol.6, No.3, pp. 281-290, 1990.

[16] [16] K. Sugimoto, “On the Singular Point of Mechanisms,” J. of the Robotics Society of Japan, Vol.11, No.4, pp. 550-556, 1993. (in Japanese)

[17] [17] Y. Takeda and H. Funabashi, “Kinematic and Static Characteristics of In-Parallel Actuated Manipulators at Singular Points and in Their Neighborhoods,” Trans. of the Japan Society of Mechanical EngineersSeries C, Vol.60, No.570, pp. 701-708, 1994. (in Japanese)

[18] [18] Y. Takeda and H. Funabashi, “Motion Transmissibility in Parallel Manipulators,” Trans. of the Japan Society ofMechanical Engineers Series C, Vol.59, No.560, pp. 1142-1147, 1993. (in Japanese)