Kinematic and Performance Analysis of a 4-DOF 2PPPaR Parallel Manipulator

doi:10.3901/JME.2018.03.036

Abstract

Abstract: A new four-degree-of-freedom (4-DOF) 2PPPaR parallel manipulator that can produce 3-DOF translations and 1-DOF rotation (3T1R), has been proposed. It has two identical legs connected to the moving platform through passive revolute joints, and each leg is driven by two linear motors that are perpendicular to each other. Due to such a unique kinematic structure, the 4-DOF parallel manipulator has the advantages of simple kinematics, large workspace, high speed, and high positioning accuracy. These advantages make it an appropriate candidate for high-speed and high-precision pick-and-place operations. To validate the proposed parallel manipulator design, mobility analysis is conducted based on screw theory. To understand the kinematic characteristics of the parallel manipulator, the forward kinematics and the inverse kinematics are studied, the closed solution of the position solutions are obtained, and the possible singularities are analysed by the velocity mapping model. Finally, the reachable workspace and the possible workspace shapes are discussed by numerical method and analytic method in details. The research of the parallel manipulator has significant guide for the following researches such as design optimization and trajectory planning.

Key words: degree-of-freedom, kinematics, parallel manipulator, singularity, workspace

CLC Number:

TG156

WU Cuncun, YANG Guilin, CHEN Chinyin, ZHANG Chi, LIU Shulin. Kinematic and Performance Analysis of a 4-DOF 2PPPaR Parallel Manipulator[J]. Journal of Mechanical Engineering, 2018, 54(3): 36-45.

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