Analysis of the kinematic characteristics of a high-speed parallel robot with Schonflies motion: Mobility, kinematics, and singularity

作者：Xie, Fugui^*; Liu, Xin-Jun^*

来源：Frontiers of Mechanical Engineering, 2016, 11(2): 135-143.

DOI：10.1007/s11465-016-0389-7

• parallel robot
• mobility
• inverse kinematics
• singularity
• transmission performance

This study introduces a high-speed parallel robot with Schonflies motion. This robot exhibits a promising prospect in realizing high-speed pick-and-placemanipulation for packaging production lines. The robot has four identical limbs and a single platform. Its compact structure and single-platform concept provides this robot with good dynamic response potential. A line graph method based on Grassmann line geometry is used to investigate the mobility characteristics of the proposed robot. A generalized Blanding rule is also introduced into this procedure to realize mutual conversion between the line graphs for motions and constraints. Subsequently, the inverse kinematics is derived, and the singularity issue of the robot is investigated using both qualitative and quantitative approaches. Input and output transmission singularity indices are defined based on the reciprocal product in screw theory and the virtual coefficient by considering motion/force transmission performance. Thereafter, the singular loci of the proposed robot with specific geometric parameters are derived. The mobility analysis, inverse kinematics modeling, and singularity analysis conducted in this study are helpful in developing the robot.

• 出版日期2016-6
• 单位清华大学