A novel 3-UP3R parallel mechanism with six degree of freedoms is proposed in this paper. One most important advantage of this mechanism is that the three translational and three rotational motions are partially decoupled: the end-effector position is only determined by three inputs, while the rotational angles are relative to all six inputs. The design methodology via GF set theory is brought out, using which the limb type can be determined. The mobility of the end-effector is analyzed. After that, the kinematic and velocity models are formulated. Then, workspace is studied, and since the robot is partially decoupled, the reachable workspace is also the dexterous workspace. In the end, both local and global performances are discussed using conditioning indexes. The experiment of real prototype shows that this mechanism works well and may be applied in many fields.
Hunt KH. Structural kinematics of in-parallel-actuated robot-arms. J Mech Trans Auto Des 1983; 105(4): 705–712.
2.
HuangZLiQ. General methodology for type synthesis of symmetrical lower-mobility parallel manipulators and several novel manipulators. Int J Robot Res2002; 21: 131–145.
3.
Alizade R, Bilhan G and Smith P. Modules whose maximal submodules have supplements. Communications in Algebra 2001; 29(6): 2389–2405.
4.
AlizadeRCanFCGezginE. Structural synthesis of Euclidean platform robot manipulators with variable general constraints. Mech Mach Theory2008; 43: 1431–1449.
5.
RichardMLiZSastrySS. A mathematical introduction to robotic manipulation, Florida: CRC Press, Inc, 1994.
LiMHuangTMeiZJ. Dynamic formulation and performance comparison of the 3-DOF modules of two reconfigurable PKM—the Tricept and the TriVariant. J Mech Des2005; 127: 1129–1129.
8.
LiQHuangZHerveJM. Type synthesis of 3R2T 5-DOF parallel mechanisms using the Lie group of displacements. Robot Autom IEEE Trans2004; 20: 173–180.
9.
KongXGosselinCM. Type synthesis of 3-DOF spherical parallel manipulators based on screw theory. J Mech Des2004; 126: 101–101.
10.
KongXGosselinCM. Type synthesis of 3-DOF translational parallel manipulators based on screw theory. J Mech Des2004; 126: 83–83.
11.
KongXGosselinCM. Type synthesis of 3-DOF PPR-equivalent parallel manipulators based on screw theory and the concept of virtual chain. J Mech Des2005; 127: 1113–1113.
12.
KongXGosselinCM. Type synthesis of 5-DOF parallel manipulators based on screw theory. J Robot Syst2005; 22: 535–547.
13.
KongXGosselinCM. Type synthesis of 4-DOF SP-equivalent parallel manipulators: a virtual chain approach. Mech Mach Theory2006; 41: 1306–1319.
14.
KongXGosselinCMRichardP-L. Type synthesis of parallel mechanisms with multiple operation modes. J Mech Des2007; 129: 595–595.
15.
YangGChenI-MLimWK. Kinematic design of modular reconfigurable in-parallel robots. Auton Robot2001; 10: 83–89.
16.
YangT-LLiuA-XJinQ. Position and orientation characteristic equation for topological design of robot mechanisms. J Mech Des2009; 131: 021001–021001.
17.
FengYJGQiaodeGE. The GF sets theory of parallel robots mechanism synthesis, Beijing: Science Press, 2011.
18.
GanDLiaoQDaiJS. Design and kinematics analysis of a new 3CCC parallel mechanism. Robotica2010; 28: 1065–1072.
19.
Gan D, Liao Q and Wei S. Forward kinematics analysis of the new 3-CCC parallel mechanism. In: Mechatronics and automation, IICMA 2007, Harbin, 5--8 August 2007, pp.905–910.
20.
GanDDaiJSDiasJ. Unified kinematics and singularity analysis of a metamorphic parallel mechanism with bifurcated motion. J Mech Robot2013; 5: 031004–031004.
21.
WuJWangJWangL. Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy. Mech Mach Theory2009; 44: 835–849.
22.
WuJLiTWangJ. Performance analysis and comparison of planar 3-DOF parallel manipulators with one and two additional branches. J Intell Robot Syst2013; 72: 73–82.
23.
WuJLiTWangJ. Stiffness and natural frequency of a 3-DOF parallel manipulator with consideration of additional leg candidates. Robot Auton Syst2013; 61: 868–875.
24.
GaoFLiWZhaoX. New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs. Mech Mach Theory2002; 37: 1395–1411.
Li QC, Hu XD and Chen QH. Jacobian analysis of symmetrical 4-DOF 3R1T parallel mechanisms. J Mech Eng 2009; 45(4).
27.
LiuX-JWangJPritschowG. Performance atlases and optimum design of planar 5R symmetrical parallel mechanisms. Mech Mach Theory2006; 41: 119–144.
28.
LiuX-JJinZ-LGaoF. Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indices. Mech Mach Theory2000; 35: 1257–1267.
