Kinematics Statics And Stiffness Analysis Of Several Novel Parallel And Hybrid Manipulators

Parallel manipulators and serial manipulators have been two important branches in the robotics field,the robot based on the above configuration has a wide application in industry.The novel parallel and hybrid manipulators have attracted much attention of academics and industry due to their excellent properties with the rapid expansion of the field of robot applications,the new type of robot are emerging.Whereas,the theoretical study on novel parallel and hybrid manipulators is comparatively lag.For the above reasons,the kinematics,statics,stiffness and workspace of several novel parallel and hybrid manipulators are studied in this paper.The main studying contents of this paper are as follows:(1)A novel 3-SPR/3-RPS type parallel manipulator is proposed and its kinematics is analyzed.The kinematics formulae are derived for solving the displacement,velocity and acceleration of foot mechanism.Next,the statics formulae are derived for solving the active force of the foot mechanism and the active/constrained forces of the parallel manipulator by the principle of virtual work.(2)The stiffness and elastic deformation of a 3-leg 5-DoF parallel manipulator with composite active legs are studied systematically.The formulae are derived for solving the elastic deformation and the compliance matrix of the asymmetrical active legs,a complete stiffness matrix is established for this PM.A finite element model of this PM is constructed and the simulation solutions of the elastic deformations of the moving platform are obtained and analyzed.The analytic solutions of the elastic deformations of this PM are verified by its FE simulation solutions.(3)A novel k(3-RPS)hybrid manipulator formed by k 3-RPS parallel manipulator connected in series is proposed.The transfer relation of velocity is analyzed based on the kinematics property.The statics and stiffness model of the k(3-RPS)hybrid manipulator is established based on the principle of virtual work,and the deformation of this hybrid manipulator is derived.To verify the stiffness and deformation model,the finite element models of 2(3-RPS)and 3(3-RPS)hybrid manipulators are established.The simulation results testify the validity of the analytic model.Simulation mechanisms of 2(3-RPS)hybrid manipulator are structured by using the Solidworks software.The workspace of 2(3-RPS)hybrid manipulators are constructed using CAD variation geometry approach.(4)A novel k(PS+RPS+SPS)hybrid manipulator formed by PS+RPS+SPS parallel manipulator is proposed.The kinematics and statics models for single PS+RPS+SPS parallel manipulator are established.The statics of the k(PS+RPS+SPS)hybrid manipulator is established based on the principle of virtual work,and gets its stiffness matrix.An analytic solved example and the finite element model for 5(PS+RPS+SPS)S-PM is given to verify the theoretical model.(5)A novel(3-RPS)+(3-SPR)hybrid manipulator with compound spherical joints is proposed.The displacement is solved based on the geometrical and dimensional constraints of this hybrid manipulator,and the mapping relation of velocity and acceleration are found.The statics model which contains constrained forces/torques is established.The workspace of(3-RPS)+(3-SPR)hybrid manipulators are constructed using CAD variation geometry approach and the result are analyzed and compared.