Design and experiment of a new translational parallel manipulator with large payload and high repeatability
Journal
Mechanism and Machine Theory
Journal Volume
180
Start Page
105124
ISSN
0094114X
Date Issued
2023
Author(s)
Abstract
Parallel manipulators are known to have higher structural rigidity and end-effector speed than serial manipulators. However, the size, payload, rigidity, and repeatability of parallel manipulators highly depend on the types of active and passive joints used. Compared with other joint types, revolute joints are structurally simpler and have an unlimited rotation range. They can be easily preloaded to increase the stiffness and eliminate clearance. Hence, revolute joints are preferable for parallel manipulators that need to have a smaller size, larger payload, and higher reparability. This paper presents a new translational parallel manipulator (TPM) that uses only revolute joints as the active and passive joints. The kinematics, workspace analysis, and singularity analysis are provided to facilitate the design of the new TPM. Finite element analyses are given to evaluate the compliance contribution of the revolute joints and links of the new TPM. Compliance, payload, and repeatability experiments are provided to verify the merits of the proposed design. We expect that the proposed TPM can provide an alternative for selecting parallel manipulators to meet different industrial applications.
Subjects
Active And Passive Singularities
Bearing Stiffness
Compliance And Stiffness Matrices
Pose Repeatability
Translational Parallel Manipulator
Workspace Analysis
Compliance Control
Industrial Manipulators
Rigidity
Stiffness
Active And Passive Singularity
Bearing Stiffness
Compliance Matrixes
Parallel Manipulators
Passive Joints
Pose Repeatability
Revolute Joints
Stiffness Matrices
Translational Parallel Manipulator
Workspace Analysis
Stiffness Matrix
SDGs
Publisher
Elsevier Ltd
Type
journal article