Novel 9-Degree-of-freedom Kinematically Redundant Parallel Mechanism for Micro-component Assembly

doi:10.3901/JME.2025.21.111

Abstract

Abstract: Micro-component assembly is one of the crucial steps in the manufacturing of precision instruments such as micro-electromechanical systems, semiconductors and micro-sensors. In this field, traditional parallel mechanisms, despite their high positioning accuracy, often fail to meet the demands of assembly space due to limitations in motion ranges, especially rotational ranges of their end effectors. To address this, a novel 9-degree-of-freedom (DOF) kinematically redundant parallel mechanism (KRPM) with a large orientational workspace is proposed. Through analysis, the number of the mechanism's redundant DOFs is determined. Kinematic models for the forward and inverse solutions of the mechanism’s pose analysis are established and verified using numerical example and ADAMS kinematic simulation. Then, a novel orientational workspace boundary search strategy is introduced, tailored for parallel mechanisms with multiple rotational DOFs and large orientational workspace. This strategy helps determine the mechanism’s reachable workspace and analyze the influence of the kinematic redundancy on its workspace. Also, effective strategies for the extension of the mechanism’s orientational workspace using kinematic redundancy are provided, enabling it to achieve an orientational workspace of over ±90° around the X, Y, and Z axes. The proposed KRPM exhibits great application potential in the field of micro-component assembly.

Key words: kinematically redundant parallel mechanism, pose analysis, workspace, orientational workspace, boundary search

CLC Number:

TP24

ZHENG Ruida, ZHANG Xianmin. Novel 9-Degree-of-freedom Kinematically Redundant Parallel Mechanism for Micro-component Assembly[J]. Journal of Mechanical Engineering, 2025, 61(21): 111-128.

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