Hostname: page-component-7f64f4797f-m2b9p Total loading time: 0 Render date: 2025-11-03T12:07:51.423Z Has data issue: false hasContentIssue false
  • English
  • Français

Analyses of velocity, acceleration, statics, and workspace of a 2(3-SPR) serial-parallel manipulator

Published online by Cambridge University Press:  01 July 2009

Yi Lu ,
Bo Hu  and
Tao Sun
Yi Lu*
Affiliation:
Robotics Research Center, School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China.
Bo Hu
Affiliation:
Robotics Research Center, School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China.
Tao Sun
Affiliation:
Robotics Research Center, School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China.
*
*Corresponding author. E-mail: luyi@ysu.edu.cn
Get access Rights & Permissions [Opens in a new window]

Summary

The kinematics, statics, and workspace of a 2(3-SPR) serial-parallel manipulator (S-PM) are studied systematically in this paper. First, a 2(3-SPR) S-PM including an upper 3-SPR parallel manipulator (PM) and a lower 3-SPR PM is constructed, and the inverse/forward displacements, velocity, acceleration, and statics of the lower and upper 3-SPR PMs are studied, respectively. Second, the kinematics and statics of the lower and upper 3-SPR PMs are combined and the displacement, velocity, acceleration, and statics of a 2(3-SPR) S-PM are analyzed systematically. Third, a workspace of the 2(3-SPR) S-PM is constructed and analyzed. Finally, the analytic solved results are given and verified by the simulation mechanism.

Keywords

Parallel manipulatorsSerial-parallel manipulatorKinematicsStaticsWorkspace

Information

Type
Article
Information
Robotica , Volume 27 , Issue 4 , July 2009 , pp. 529 - 538
Copyright
Copyright © Cambridge University Press 2008

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Craig, J. J., Introduction to Robotics: Mechanics and Control (3rd ed.) (Prentice Hall/Pearson, New York, 2005).Google Scholar
2.Niku, S. B., Introduction to Robotics Analysis, Systems, Applications (Pearson Education, Publishing as Prentice Hall, and Publishing House of Electronics Industry, Beijing, China, 2004).Google Scholar
3.Huang, Z., Kong, L. F. and Fang, Y. F., Theory on Parallel Robotics and Control (Machinery Industry Press, Beijing, China, 1997).Google Scholar
4.Lu, Y., and Hu, B., “Unification and simplification of velocity/acceleration of limited-dof parallel manipulators with linear active legs,” Mech. Mach. Theory 43 (9): 1112–1128 (2008).CrossRefGoogle Scholar
5.Wang, X., Baron, L. and Cloutier, G., “Topology of serial and parallel manipulators and topological diagrams,” Mech. Mach. Theory 43 (6), 754–770 (June, 2008).CrossRefGoogle Scholar
6.Romdhane, L., “Design and analysis of a hybrid serial-parallel manipulator,” Mech. Mach. Theory 34 (7), 1037–1055 (1999).CrossRefGoogle Scholar
7.Waldron, K. J., Raghavan, M. and Roth, B., “Kinematics of a hybrid series-parallel manipulation system,” J. Dyn. Syst. Meas. Control 111 (2), 211–221 (1989).CrossRefGoogle Scholar
8.Shahinpoor, M., “Kinematics of a parallel-serial (hybrid) manipulator,” J. Rob. Syst. 9 (1), 17–39 (1992).CrossRefGoogle Scholar
9.Tanev, T. K., “Kinematics of a hybrid (parallel-serial) robot manipulator,” Mech. Mach. Theory 35, 1183–1196 (2000).CrossRefGoogle Scholar
10.Bandyopadhyay, S. and Ghosal, A., “Analytical determination of principal twists in serial, parallel and hybrid manipulators using dual vectors and matrices,” Mech. Mach. Theory 39, 1289–1305 (2004).CrossRefGoogle Scholar
11.Zheng, X. Z., Bin, H. Z. and Luo, Y. G., “Kinematic analysis of a hybrid serial-parallel manipulator,” Int. J. Adv. Manufact. Technol. 23 (11–12), 925–930 (2004).CrossRefGoogle Scholar
12.Lu, Y. and Leinonen, T., “Solution and simulation of position–orientation for multi-spatial 3-RPS parallel mechanisms in series connection,” J. Multibody Syst. Dyn. 14 (1), 47–60 (2005).CrossRefGoogle Scholar
13.Lu, Y. and Hu, B., “Solving driving forces of 2(3-SPR) serial-parallel manipulator by CAD variation geometry approach,” Trans. ASME J. Mech. Des. 128 (6), 1349–1351 (2006).CrossRefGoogle Scholar
14.Cha, S.-H., Lasky, T. A. and Velinsky, S. A., “Kinematic redundancy resolution for serial-parallel manipulators via local optimization including joint constraints,” Mech. Based Design Struct. Mach. 34 (2), 213–239 (2006).CrossRefGoogle Scholar
15.Luo, J., He, M. and Lu, Z., “New type of universal Cartesian serial-parallel manipulator,” Chin. J. Mech. Eng. 43 (7), 27–31, 38 (2007).CrossRefGoogle Scholar
16.Cheng, H. H., Lee, J. J. and Penkar, R., “Kinematic analysis of a hybrid serial-and-parallel-driven redundant industrial manipulator,” Int. J. Rob. Automat. 10 (4), 159–166 (1995).Google Scholar
17.Chao, D., Zong, G. and Liu, R., “Design of a 6-DOF Compliant Manipulator Based on Serial-Parallel Architecture,” Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2005), Monterey, California, USA, Vol. 1 (July, 2005) pp. 765–770.Google Scholar
18.Fan, K.-C., Wang, H., Zhao, J.-W. and Chang, T.-H., “Sensitivity analysis of the 3-PRS parallel kinematic spindle platform of a serial-parallel machine tool,” Int. J. Mach. Tools Manufact. 43 (15), 1561–1569 (2003).CrossRefGoogle Scholar
19.Kyung, J.-H., Han, H.-S., Park, C.-H., Ha, Y.-H. and Park, J.-H., “Dynamics of a Hybrid Serial-Parallel Robot for Multi-Tasking Machining Processes,” 2006 SICE–ICASE International Joint Conference, Bexco, Busan, Korea (Oct., 2006) pp. 3026–3030.CrossRefGoogle Scholar
20.Kindermann, T. and Cruse, H., “MMC—A new numerical approach to the kinematics of complex manipulators,” Mech. Mach. Theory 37 (4), 375–394 (2002).CrossRefGoogle Scholar
21.Lu, Y., “CAD variation geometry and analytic approach for solving kinematics of a novel 3-SPU/3-SPU parallel manipulator,” Trans. ASME J. Mech. Des. 128 (3), 574–580 (May, 2006).CrossRefGoogle Scholar