A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability

Author

Shayya, Samah ; Krut, Sebastien ; Company, Olivier ; Baradat, Cedric ; Pierrot, Francois

Author_Institution

Montpellier Lab. of Inf., Robot., & Microelectron. (LIRMM in French), Montpellier Univ. of Sci. & Technol. (UM2), Montpellier, France

fYear

2014

fDate

May 31 2014-June 7 2014

Firstpage

5712

Lastpage

5719

Abstract

The paper presents a novel 5 dofs (3T-2R) parallel mechanism. The mechanism is characterized by large singularity-free workspace and particularly large rotational capability which makes it suitable for 5 face-machining and similar applications. Having all its prismatic actuators along x direction, the x-motion is independent from other dofs-only limited by prismatic actuators´ strokes-constituting another major advantageous feature. Besides, an analytical direct geometric model can be easily established which is a rare feature in parallel robots. The paper introduces the novel mechanism with its inverse and direct geometric models as well as its kinematic models (forward and inverse Jacobians). Also, it discusses its singularity analysis and presents sample workspace plots evaluated based on isotropic performance regarding velocity and static force.

Keywords

actuators; industrial manipulators; machining; manipulator kinematics; 5 DoF 3T-2R parallel mechanism; 5 face-machining; analytical direct geometric model; forward Jacobians; inverse Jacobians; inverse geometric models; kinematic models; parallel robots; prismatic actuators; singularity analysis; singularity-free workspace; Actuators; Analytical models; Jacobian matrices; Joints; Kinematics; Robots; Transmission line matrix methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2014 IEEE International Conference on

Conference_Location

Hong Kong

Type

conf

DOI

10.1109/ICRA.2014.6907699

Filename

6907699