Type synthesis of 2T2R, 1T2R and 2R parallel mechanisms

A bstract: This paper introduces a new concept of applying a parallel mechanism in automated fiber placement for aerospace part manufacturing. By investigating the system requirements, a 4-DOF parallel mechanism consisting of two RPS(revolute-prismatic-spherical joints) and two UPS(universal-prismatic-spherical joints) limbs with two rotational and two translational motions is proposed. Both inverse and forward kinematics models are obtained and solved analytically. Based on the overall Jacobian matrix in screw theory, singularity loci are presented and the singularity-free workspace is correspondingly illustrated. To maximize the singularity-free workspace, locations of the two UPS limbs with the platform and base sizes are used in the optimization which gives a new design of a 4-DOF parallel mechanism. A dimensionless Jacobian matrix is also defined and its condition number is used for optimizing the kinematics performance in the optimization process. A numerical example is presented with physical constraint considerations of a test bed design for automated fiber placement.

Singularity-Free Workspace Aimed Optimal Design of a 2T2R Parallel Mechanism for Automated Fiber Placement

Aimed at a novel 4-DOF parallel manipulator, the paper brings forward a grid approach which is based on the inverse kinematics result to get its workspace. The paper analyses the kinematics of this kind of parallel manipulator, brings out the formula of the inverse kinematics, then programs, gives several figures of workspace with different parameters and then analyses it finally.

http://ieeexplore.ieee.org/iel5/9033/28679/01285688.pdf

The reachable workspace analysis of a kind of 4-DOF parallel mechanism based on constraints

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The reachable workspace analysis of a kind of 4-DOF parallel mechanism based on constraints