Conceptual design and dimensional synthesis for a 3-DOF module of the TriVariant-a novel 5-DOF reconfigurable hybrid robot

This paper deals with the conceptual design and dimensional synthesis of a 3-DOF parallel mechanism module which forms the main body of a newly invented 5-DOF reconfigurable hybrid robot named "TriVariant." The TriVariant is a modified version of the Tricept robot, achieved by integrating...

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Bibliographic Details
Published in:IEEE transactions on robotics 2005-06, Vol.21 (3), p.449-456
Main Authors: Huang, T., Li, M., Zhao, X.M., Mei, J.P., Chetwynd, D.G., Hu, S.J.
Format: Article
Language:English
Subjects:
Aerospace industry
Applied sciences
Computer science
control theory
systems
Conceptual design
Constraint optimization
Control theory. Systems
Design optimization
dimensional synthesis
Drives
Exact sciences and technology
Kinematics
Linkage mechanisms, cams
Machine tools
Manufacturing
Mechanical engineering
Mechanical engineering. Machine design
parallel kinematic machines (PKMs)
Parallel robots
reconfigurable manufacturing
Robot sensing systems
Robotics
Robots
Service robots
Technological innovation
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Summary:This paper deals with the conceptual design and dimensional synthesis of a 3-DOF parallel mechanism module which forms the main body of a newly invented 5-DOF reconfigurable hybrid robot named "TriVariant." The TriVariant is a modified version of the Tricept robot, achieved by integrating one of the three active limbs into the passive limb. The idea leading to the innovation of the module is systematically addressed. Its kinematic performance is optimized by minimizing a global and comprehensive conditioning index subject to a set of appropriate mechanical constraints. It is concluded that the proposed hybrid system is more cost-effective and has a competitive kinematic performance in comparison with the well-known Tricept robot.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2004.840908