Kinematic and dynamic performance evaluation of a four degrees of freedom parallel robot

Document Type : Research Article

Authors

1 School of mechanical engineering, shahid beheshti university

2 shahid beheshti university

3 School of Mechanical Engineering, ShahidBeheshtiUniversity, Tehran, Iran.

Abstract

In this paper, the performance of a four degree of freedom parallel manipulator with Schönflies motion is evaluated from kinematic and dynamic points of view. Its low inertia makes it a suitable choice for pick-and-place applications, which demand high velocity and acceleration. So, the dynamic characteristics of the robot are of high importance. Moreover, parallel robots suffer from a small workspace, on which their singularities put additional constrain. Hence, this paper studies the kinematic and dynamic behavior of the robot in-depth to give a clear perspective to path planning and its applications. To perform kinematic analysis, constraint equations are derived based on the geometric method, and then Jacobian matrices are determined via velocity analysis. By considering the constraint equations and joint limits, reachable workspace is determined applying point-to-point search algorithm and singularities are identified by the inverse and direct Jacobian matrices. For dynamic modeling, Euler-Lagrange formulation is applied and both kinematic and dynamic models are verified by the results obtained from mechanism simulation in ADAMS software. Furthermore, for evaluation of the robot performance, pressure angles are employed to show the equality of motion/force transmission, and dynamic indices based on joint space inertia matrix are applied to illustrate its dynamic behavior.

Keywords

Main Subjects


 
[1]
"Bastian solutions," [Online]. Available: https://www.bastiansolutions.com/solutions/service/industrial-robotics/industrial-robotic-solutions/pick-and-place/.
[2]
F. Pierrot, F. Marquet, O. Company, H4 Parallel Robot: Modeling, Design and Preliminary Experiments, in: Proceedings of the 2001 IEEE International Conference on Robotics & Automation, Seoul, South Korea, 2001.
[3]
F. Pierrot, V. Nabat, S. Krut,P. Poignet, Optimal Design of a 4-DOF Parallel Manipulator: From Academia to Industry, IEEE Transactions on Robotics, 25(2) (2009) 213-224.
[4]
P. L. Richard, C. M. Gosselin, X. W. Kong, Kinematic analysis and prototyping of a partially decoupled 4-DOF 3T1R parallel manipulator,Journal of Mechanical Design, 129(12) (2007) 611-616.
[5]
X. W. Kong., C. M. Gosselin, Type synthesis of 3T1R 4-DoF parallel manipulators based on screw theory, IEEE Transactions on Robotics and Automation, 20(2) (2004) 181-190.
[6]
P. C. Lee, J. J. Lee, On the kinematics of a new parallel mechanism with Schoenflies motion, Robotica, 34(9) (2016) 2056–2070.
[7]
M. Mazare, M. Taghizadeh, m. R. Najafi, Kinematic analysis and design of a novel 3-DOF translational parallel robot, International Journal of Automation and Computing, 14(4) (2016) 432–441.
[8]
J. Brinker, B. Corves, Y. Takeda, Y., Kinematic performance evaluation of high-speed Delta parallel robots based on motion/force transmission indices, Mechanism and Machine Theory, 125 (2018) 111-125.
[9]
H. Shao, L. Wang, L.Guan, J. Wu, Dynamic manipulability and optimization of a redundant three DOF planar parallel manipulator, in: 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, London, 2009.
[10]
S. Liu, T. Huang, J. Mei, X. Zhao, P. Wang, Optimal Design of a 4-DOF SCARA Type Parallel Robot Using Dynamic Performance Indices and Angular Constraints, ASME Journal of Mechanisms and Robotics, 4(3)(2012) 031005-031005-10.
[11]
C. M. Gosselin, J. Angeles, The optimum kinematic design of a spherical three-degree- offreedom parallel manipulator freedom parallel manipulator, Journal of Mechanisms, Transmissions, and Automation in Design, 111(2) (1989) 202-207.
[12]
C. M. Gosselin, J. Angeles, A global performance index for the kinematic optimization of robotic manipulators, ASME. Journal of Mechanical Design, 113(3) (1991) 220-226.
[13]
J. Ryu, J. Cha, Optimal architecture design of parallel manipulators for best accuracy, in 2001 IEEE/RSJ international conference on intelligent robots and systems, IEEE press, Piscataway, N.J., Maui, Hawwaii, 2001.
[14]
H. S. Kim, L. W.Tsai, Design optimization of a Cartesian parallel manipulator, Journal of Mechanical Design, 125(1) (2003) 43-51.
[15]
M. Stock, K. Miller, Optimal kinematic design of spatial parallel manipulators: application to linear delta robot, ASME Journal of Mechanical Design, 125 (2003) 291-301.
[16]
H. B. Choi, A. Konno, M. Uchiyama, Design, Implementation, and Performance Evaluation of a 4-DOF Parallel Robot, Robotica, 28(1) (2010) 107-118.
[17]
M. C. Yuan, F. F. Freudenstein , L. S. Woo, Kinematic Analysis of Spatial Mechanisms by Means of Screw Coordinates. Part 2—Analysis of Spatial Mechanisms, ASME Journal of Engineering for Industry, 93(1) (1971) 67-73.
[18]
Y. Takeda, H. Funabashi, Motion Transmissibility of In-Parallel Actuated Manipulators, JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing, 38(4) (1995) 749-755.
[19]
J. Wang, C. Wu, X. J. Liu, Performance evaluation of parallel manipulators: Motion/force transmissibility and its index, Mechanism and Machine Theory, 45(10) (2010) 1462-1476.
[20]
G. Wu, Kinematic Analysis and Optimal Design of a Wall-mounted Four-limb Parallel Schönflies-motion Robot for Pick-and-place Operations, Journal of Intelligent and Robotic Systems, 85(3-4) (2016) 663–677.
[21]
J. Mo, Z. F. Shao, L. Guan, F. Xie, X. Tang, Dynamic performance analysis of the X4 high-speed pick-and-place parallel robot, Robotics and Computer–Integrated Manufacturing, 46(2017) 48-57.
[22]
"Penta Veloce," [Online]. Available: https://pentarobotics.com/products/#brochure.
[23]
H. Taghirad, Parallel Robots: Mechanics and Control, CRC Press, 2013.
[24]
C. Gosselin, Parallel computational algorithms for the kinematics and dynamics of planar and spatial parallel manipulators, Transactions of the ASME Journal of Dynamic Systems, Measurement and Control, 118(1) (1996) 22-28.
[25]
X. Liang, Y. Takeda, Transmission index of a class of parallel manipulators with 3-RS(SR) primary structures based on pressure angle and equivalent mechanism with 2-SS chains replacing RS chain, Mechanism and Machine Theory, 139 (2019) 359-378.
[26]
Z. F. Shao, X. Tang, X. Chen, L. P. Wang, Research on the inertia matching of the Stewart parallel manipulator, Robotics and Computer-Integrated Manufacturing, 28 (2012) 649–659.