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A four-limb parallel Schönflies motion generator with full-circle end-effector rotation
Mechanism and Machine Theory ( IF 5.2 ) Pub Date : 2020-04-01 , DOI: 10.1016/j.mechmachtheory.2019.103711
Guanglei Wu , Zirong Lin , Wenkang Zhao , Sida Zhang , Huiping Shen , Stéphane Caro

Abstract This paper presents a four-limb parallel Schonflies motion generator for the pick-and-place application, whose end-effector is composed of a planetary gear train as the amplification mechanism to realize the full-circle rotation. The kinematic aspects, including the workspace, dexterity and singularity, are analyzed and evaluated. The singular configurations and the singularity loci are identified both graphically and numerically, which shows that the singular configurations of the manipulator can be avoided by keeping all the limbs working in a prescribed working mode together with the end-effector rotation in a clockwise direction from the neutral orientation. Moreover, the dexterity evaluation is carried out to depict the workspace quality and dexterous working envelope. It turns out that the proposed robot admits a super-ellipsoidal workspace with the full-circle rotation of the end-effector, suitable for pick-and-place operations. Finally, robot dynamics is considered to select the actuators.

中文翻译:

具有全圆末端执行器旋转的四肢平行 Schönflies 运动发生器

摘要 本文提出了一种用于拾放应用的四肢并联Schonflies运动发生器,其末端执行器由行星齿轮系作为放大机构组成,以实现全圆旋转。运动学方面,包括工作空间、灵巧性和奇异性,都进行了分析和评估。奇异构型和奇异位点以图形和数字方式识别,这表明通过保持所有肢体在规定的工作模式下工作以及末端执行器沿顺时针方向旋转可以避免机械手的奇异构型。中性取向。此外,进行灵巧性评估以描述工作空间质量和灵巧工作范围。事实证明,所提出的机器人允许具有末端执行器全圆旋转的超椭圆体工作空间,适用于拾放操作。最后,考虑机器人动力学来选择执行器。
更新日期:2020-04-01
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