Most multimode parallel robots can change operation modes by passing through constraint singularities. This paper deals with a comprehensive kinematic study of a three degrees-of-freedom (DOF) multimode three-PRPiR parallel robot developed at Heriot-watt University. This robot is able to reach several operation modes without crossing any constraint singularity by using lockable Pi and R joints. Here, a Pi joint may act as a 1DOF planar parallelogram if its lockable P (prismatic) joint is locked or a 2DOF RR serial chain if its lockable P joint is released. The operation modes of the robot include a 3T operation mode and four 2T1R operation modes with two different directions of the rotation axis of the moving platform. The inverse kinematics and forward kinematics of the robot in each operation mode are dealt with in detail. The joint space and workspace analysis of the robot allow us to know the regions of the workspace that the robot can reach in each operation mode. It is shown that the robot is able to change assembly mode in one operation mode by passing through another operation mode.
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June 2018
Design Innovation Paper
Kinematics, Workspace, and Singularity Analysis of a Parallel Robot With Five Operation Modes
Damien Chablat,
Damien Chablat
Laboratoire des Sciences du Numérique de Nantes,
UMR CNRS 6004 1 rue de la Noë,
Nantes 44321, France
e-mail: damien.chablat@cnrs.fr
UMR CNRS 6004 1 rue de la Noë,
Nantes 44321, France
e-mail: damien.chablat@cnrs.fr
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Xianwen Kong,
Xianwen Kong
School of Engineering and Physical Sciences,
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: X.Kong@hw.ac.uk
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: X.Kong@hw.ac.uk
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Chengwei Zhang
Chengwei Zhang
School of Engineering and Physical Sciences,
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: moonlight1780@163.com
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: moonlight1780@163.com
Search for other works by this author on:
Damien Chablat
Laboratoire des Sciences du Numérique de Nantes,
UMR CNRS 6004 1 rue de la Noë,
Nantes 44321, France
e-mail: damien.chablat@cnrs.fr
UMR CNRS 6004 1 rue de la Noë,
Nantes 44321, France
e-mail: damien.chablat@cnrs.fr
Xianwen Kong
School of Engineering and Physical Sciences,
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: X.Kong@hw.ac.uk
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: X.Kong@hw.ac.uk
Chengwei Zhang
School of Engineering and Physical Sciences,
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: moonlight1780@163.com
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: moonlight1780@163.com
1Present address: Dalian Huarui Heavy Industry Group Co., Ltd, Dalian 116013, China.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received September 22, 2017; final manuscript received February 3, 2018; published online April 5, 2018. Assoc. Editor: Andrew P. Murray.
J. Mechanisms Robotics. Jun 2018, 10(3): 035001 (12 pages)
Published Online: April 5, 2018
Article history
Received:
September 22, 2017
Revised:
February 3, 2018
Citation
Chablat, D., Kong, X., and Zhang, C. (April 5, 2018). "Kinematics, Workspace, and Singularity Analysis of a Parallel Robot With Five Operation Modes." ASME. J. Mechanisms Robotics. June 2018; 10(3): 035001. https://doi.org/10.1115/1.4039400
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