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TECHNICAL PAPERS

Conceptual Design and Dimensional Synthesis of a Reconfigurable Hybrid Robot

[+] Author and Article Information
Meng Li, Dawei Zhang, Xueman Zhao

School of Mechanical Engineering, Tianjin University, Tianjin 300072, P. R. China

Tian Huang1

School of Mechanical Engineering, Tianjin University, Tianjin 300072, P. R. Chinahtiantju@public.tpt.tj.cn

S. Jack Hu

Department of Mechanical Engineering, The University of Michigan, Ann Arbor, MI 48109

Derek G. Chetwynd

School of Engineering, The University of Warwick, Coventry CV4 7AL, UK

1

To whom correspondence should be addressed.

J. Manuf. Sci. Eng 127(3), 647-653 (Jun 12, 2004) (7 pages) doi:10.1115/1.1947208 History: Received July 11, 2003; Revised June 12, 2004

This paper deals with the conceptual design of a novel four-degree-of-freedom (dof) modularized robot which is composed of a 2-dof parallel mechanism plus a 2-dof rotating head attached to the moving platform. Patented with the name Bicept, the robot is the two-dimensional version of the Tricept robot and is designed as a reconfigurable module that can readily be integrated with 1-dof feed mechanism or a fixed base in order to form a set of reconfigurable robots with parallel-serial architecture. The dimensional synthesis of the 2-dof parallel mechanism as a component of the Bicept robot is also carried out by solving a one-dimensional nonlinear equation associated with the strut-length constraint. The dimensional parameters corresponding to various width-height ratios of the work space are obtained via examples.

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Copyright © 2005 by American Society of Mechanical Engineers
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Figures

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Figure 1

The modularized Bicept robot

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Figure 2

Possible mounting options of the Bicept robot: (a) fixed column type, (b) fixed bridge type, (c) column type with a rotation, (d) column type with a translation, and (e) third-strut addition type

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Figure 3

Kinematic model of the Bicept robot

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Figure 4

Reachable work space of the 2-dof parallel mechanism

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Figure 5

Variation of performance indices η¯ and η̃ versus λh, λd, λH with λa=0.0 and λa=0.3: (a) λh=0.5, 1−λd=1.6, 2−λd=1.7, 3−λd=1.8, 4−λd=1.9, 5−λd=2.0 and (b) λh=1.0, 1−λd=0.82, 2−λd=0.852, 3−λd=0.92, 4−λd=0.952, 4−λd=1.02

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Figure 6

Variations of performance indices η vs λd, λH with λa=0.3: (a) λh=0.5, 1−λd=1.6, 2−λd=1.7, 3−λd=1.8, 4−λd=1.9, 5−λd=2.0 and (b) λh=1.0, 1−λd=0.82, 2−λd=0.852, 3−λd=0.92, 4−λd=0.952, 5−λd=1.02

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Figure 7

Reachable space and work space of the 2-dof parallel mechanism

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Figure 8

Distribution of the condition number of the Jacobian in the work spaces

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