Development of Position-Orientation Decoupled Spatial In-Parallel Actuated Mechanisms with Six Degrees of Freedom

Yukio Takeda; Kouji Kamiyama; Yoshihisa Maki; Masaru Higuchi; Koichi Sugimoto

doi:10.20965/jrm.2005.p0059

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JRM Vol.17 No.1 pp. 59-68

doi: 10.20965/jrm.2005.p0059

(2005)

Paper:

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Development of Position-Orientation Decoupled Spatial In-Parallel Actuated Mechanisms with Six Degrees of Freedom

Yukio Takeda^*, Kouji Kamiyama^**, Yoshihisa Maki^,
Masaru Higuchi^, and Koichi Sugimoto^*

^*Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552, Japan

^**Honda Motor Co., Ltd.

Received:

October 17, 2004

Accepted:

January 6, 2005

Published:

February 20, 2005

Keywords:

kinematics, in-parallel actuated mechanism, position-orientation decoupled mechanism, triple spherical joint, structural synthesis

Abstract

We propose a new structure for spatial in-parallel actuated mechanisms with six degrees of freedom in which the output link’s position and orientation are decoupled. Number synthesis of the position submechanism, a partial mechanism for the position-orientation decoupled mechanism, was conducted, and fifteen mechanisms were clarified. Basic equations for kinematic analysis were derived for four of the obtained mechanisms, and procedures to analyze their forward/inverse displacement were investigated. Their workspaces and swing angles were numerically evaluated based on these equations. Experimental results using an experimental position-orientation decoupled mechanism were presented to support these theoretical results.

Cite this article as:

Y. Takeda, K. Kamiyama, Y. Maki, M. Higuchi, and K. Sugimoto, “Development of Position-Orientation Decoupled Spatial In-Parallel Actuated Mechanisms with Six Degrees of Freedom,” J. Robot. Mechatron., Vol.17 No.1, pp. 59-68, 2005.

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References

[1] C. Innocenti, and V. Parenti-Castelli, “Direct Kinematics of the 6-4 Fully Parallel Manipulator with Position and Orientation Uncoupled,” European Robotics and Intelligent Systems Conf., Corfou, June 23-28, 1991, pp. 3-10, 1991.
[2] S. P. Patarinski, and M. Uchiyama, “Position/Orientation Decoupled Parallel Manipulators,” Proc. Int. Conf. Advanced Robotics, pp. 153-158, 1993.
[3] S. P. Patarinski, and M. Uchiyama, “Analysis and Design of Position/Orientation Decoupled Parallel Manipulators,” Theory and Practice of Robots and Manipulators, Proc. RoManSy 10, pp. 219-224, 1995.
[4] K. Wohlhart, “Displacement Analysis of the General Spherical Stewart Platform,” Mechanism and Machine Theory, Vol.29, No.4, pp. 581-589, 1994.
[5] Z. J. Geng, and L. Haynes, “A “3-2-1” Kinematic Configuration of a Stewart Platform and Its Application to Six Degrees of Freedom Pose Measurements,” Robotics and Computer-Integrated Manufacturing, Vol.11, No.1, pp. 23-34, 1994.
[6] D. Bernier, J.-M. Castelain, and X. Li, “A New Parallel Structure with Six Degrees of Freedom,” Proc. 9^th World Congress on the Theory of Machines and Mechanisms, pp. 8-12, 1995.
[7] K. Mianovski, “Dextrous Fully Parallel Manipulator with Six Degrees of Freedom,” Theory and Practice of Robots and Manipulators, RoManSy 12, pp. 253-260, 1998.
[8] D. Zlatanov, M. Q. Dai, R. G. Fenton, and B. Benhabib, “Mechanical Design and Kinematic Analysis of A Three-Legged Six Degreeof-Freedom Parallel Manipulator,” Proc. 22nd Biennial Mechanisms Conference, Vol.DE-45, pp. 529-536, 1992.
[9] O. Sato, H. Ishikawa, M. Hiraki, and K. Takamasu, “The calibration of parallel-CMM: Parallel-coordinate measuring machine,” Euspen2002, pp. 573-576, 2002.
[10] P. Bosscher, and I. Ebert Uphoff, “A novel mechanism for implementing multiple collocated spherical joints,” Proc. 2003 IEEE Int. Conf. Robotics and Automation, pp. 336-341, 2003.
[11] J. Lenarcic, M. M. Stanisic, and V. Parenti-Castelli, “A 4-dof parallel mechanism simulating the movement of the human sternumclavicle-scapula complex,” Advances in Robot Kinematics, J. Lenarcic, and M. M. Stanisic, Editors, pp. 325-332, 2000.
[12] Y. Takeda, and H. Funabashi, “Motion transmissibility of inparallel actuated manipulators,” JSME International Journal, Series C, Vol.38, No.4, pp. 749-755, 1995.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] C. Innocenti, and V. Parenti-Castelli, “Direct Kinematics of the 6-4 Fully Parallel Manipulator with Position and Orientation Uncoupled,” European Robotics and Intelligent Systems Conf., Corfou, June 23-28, 1991, pp. 3-10, 1991.

[2] [2] S. P. Patarinski, and M. Uchiyama, “Position/Orientation Decoupled Parallel Manipulators,” Proc. Int. Conf. Advanced Robotics, pp. 153-158, 1993.

[3] [3] S. P. Patarinski, and M. Uchiyama, “Analysis and Design of Position/Orientation Decoupled Parallel Manipulators,” Theory and Practice of Robots and Manipulators, Proc. RoManSy 10, pp. 219-224, 1995.

[4] [4] K. Wohlhart, “Displacement Analysis of the General Spherical Stewart Platform,” Mechanism and Machine Theory, Vol.29, No.4, pp. 581-589, 1994.

[5] [5] Z. J. Geng, and L. Haynes, “A “3-2-1” Kinematic Configuration of a Stewart Platform and Its Application to Six Degrees of Freedom Pose Measurements,” Robotics and Computer-Integrated Manufacturing, Vol.11, No.1, pp. 23-34, 1994.

[6] [6] D. Bernier, J.-M. Castelain, and X. Li, “A New Parallel Structure with Six Degrees of Freedom,” Proc. 9^th World Congress on the Theory of Machines and Mechanisms, pp. 8-12, 1995.

[7] [7] K. Mianovski, “Dextrous Fully Parallel Manipulator with Six Degrees of Freedom,” Theory and Practice of Robots and Manipulators, RoManSy 12, pp. 253-260, 1998.

[8] [8] D. Zlatanov, M. Q. Dai, R. G. Fenton, and B. Benhabib, “Mechanical Design and Kinematic Analysis of A Three-Legged Six Degreeof-Freedom Parallel Manipulator,” Proc. 22nd Biennial Mechanisms Conference, Vol.DE-45, pp. 529-536, 1992.

[9] [9] O. Sato, H. Ishikawa, M. Hiraki, and K. Takamasu, “The calibration of parallel-CMM: Parallel-coordinate measuring machine,” Euspen2002, pp. 573-576, 2002.

[10] [10] P. Bosscher, and I. Ebert Uphoff, “A novel mechanism for implementing multiple collocated spherical joints,” Proc. 2003 IEEE Int. Conf. Robotics and Automation, pp. 336-341, 2003.

[11] [11] J. Lenarcic, M. M. Stanisic, and V. Parenti-Castelli, “A 4-dof parallel mechanism simulating the movement of the human sternumclavicle-scapula complex,” Advances in Robot Kinematics, J. Lenarcic, and M. M. Stanisic, Editors, pp. 325-332, 2000.

[12] [12] Y. Takeda, and H. Funabashi, “Motion transmissibility of inparallel actuated manipulators,” JSME International Journal, Series C, Vol.38, No.4, pp. 749-755, 1995.

Development of Position-Orientation Decoupled Spatial In-Parallel Actuated Mechanisms with Six Degrees of Freedom

Yukio Takeda*, Kouji Kamiyama**, Yoshihisa Maki*, Masaru Higuchi*, and Koichi Sugimoto*

Yukio Takeda^*, Kouji Kamiyama^**, Yoshihisa Maki^,
Masaru Higuchi^, and Koichi Sugimoto^*