Design of Manipulator with Variable Performances Based on Metamorphic Mechanism

doi:10.3901/JME.2018.15.041

Abstract

Abstract: In order to develop a manipulator for aluminum alloy castings' grinding and polishing, 3-UPS mechanism is selected as the initial mechanism. Its kinematic and static evaluation indexes are established, and the relationship between 3-UPS mechanism's parameters and its kinematic and static evaluation indexes is revealed. Relationship shows:with the change of 3-UPS mechanism's parameters, the kinematic flexibility and the static load capacity change in the opposite directions. Therefore, if one of the performances is chosen as optimal, it will inevitably lead to the other performance degradation. In order to make the manipulator's configuration and the optimal mechanism performance can be changed in real time according to different working conditions, a mobile driving joint is added between 3-UPS mechanism's each branch and its fixed platform. A hyper-redundant manipulator based on 3-PUPS mechanism is proposed. It can achieve 31 new configurations through the combination lock on the motor brake. Its kinematic flexibility, or static load capacity, can be chosen as optimal performance, by changing the universal joints' distribution radius of the fixed platform. Then, the hyper-redundant manipulator's metamorphic and variable dimensions for different working conditions are formulated based on grinding and polishing processes. Finally, the hyper-redundant metamorphic parallel manipulator's experimental prototype is manufactured, and its metamorphic ability is proved to be possible by experiment. Experiments show that the position error of the manipulator's moving platform is less than 0.4 mm, and the attitude error is less than 0.45°. The manipulator's precision has reached the level of general industrial robot.

Key words: experimental prototype, metamorphic, parallel manipulator, redundant

CLC Number:

TG156

RONG Yu, QU Mengke. Design of Manipulator with Variable Performances Based on Metamorphic Mechanism[J]. Journal of Mechanical Engineering, 2018, 54(15): 41-51,59.

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