Kinematic analysis of a novel single-loop generalized parallel manipulator with a compact traveling platform for Schönflies motion

Lin Wang, Yuefa Fang, Dan Zhang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

Abstract

This study introduces a novel single-loop generalized parallel manipulator with a compact traveling platform for Schönflies motion. The manipulator only consists of lower joints and has a simple structure. By using the compact articulated moving platform, the manipulator possesses a fairly large workspace and unlimited rotational capability. A 2-DOF driving system is adopted in both two serial kinematic chains. Thus, the performance problems caused by the moving actuators are addressed and the manipulator has a small footprint. Some kinematic issues are studied, like position analysis, workspace and singularity. Lastly, the condition number of the homogeneous Jacobian matrix rendered as the dexterity is studied. The proposed manipulator has several potential applications, such as pick and place, assembly of electronic components, surface mounting or fabric cutting.

Original languageEnglish
Title of host publicationProceedings - 2022 8th International Conference on Mechanical Engineering and Automation Science, ICMEAS 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages87-93
Number of pages7
ISBN (Electronic)9781665463058
DOIs
Publication statusPublished - Oct 2022
Externally publishedYes
Event8th International Conference on Mechanical Engineering and Automation Science, ICMEAS 2022 - Wuhan, China
Duration: 14 Oct 202216 Oct 2022

Publication series

NameProceedings - 2022 8th International Conference on Mechanical Engineering and Automation Science, ICMEAS 2022

Conference

Conference8th International Conference on Mechanical Engineering and Automation Science, ICMEAS 2022
Country/TerritoryChina
CityWuhan
Period14/10/2216/10/22

Keywords

  • dexterity
  • kinematics
  • parallel manipulator
  • Schönflies motion
  • singularity

ASJC Scopus subject areas

  • Civil and Structural Engineering
  • Modelling and Simulation
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Control and Systems Engineering

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