Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations  

作　　者：Qizhi MENG Fugui XIE Xin-Jun LIU 

机构地区：[1]The State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China [2]Beijing Key Laboratory of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China

出　　处：《Frontiers of Mechanical Engineering》2018年第2期211-224,共14页机械工程前沿（英文版）

基　　金：Acknowledgements This work was supported by the National Natural Science Foundation of China （Grant No. 51425501）, and by the Beijing Municipal Science ＆ Technology Commission （Grant No. ZI7110000 0817007）. The second author wishes to acknowledge the support provided by the Alexander yon Humboldt （AvH） Foundation.

摘　　要：This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom （DOFs） high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 11/2 mobile platform. The mobile platform is a major innova- tion that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot＇s DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom （DOFs） high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 11/2 mobile platform. The mobile platform is a major innova- tion that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot＇s DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.

关 键 词：spatial parallel robot pick-and-place operations mobility analysis kinematic modeling workspace identification 

分 类 号：O311[理学—一般力学与力学基础] TP242[理学—力学]