TY - JOUR
T1 - Development of a novel 6-DOF hybrid serial-parallel mechanism for pose adjustment of large-volume components
AU - Liu, Shiwei
AU - Sun, Yu
AU - Peng, Gaoliang
AU - Xue, Yuan
AU - Hnydiuk-Stefan, Anna
AU - Li, Zhixiong
N1 - Publisher Copyright:
© IMechE 2021.
PY - 2022/3
Y1 - 2022/3
N2 - In this paper, a novel 6-degrees-of-freedom (DOF) hybrid mechanism is proposed to realize position and posture adjusting for large-volume equipment. The designed hybrid manipulator is composed of the lower and upper modules, namely, a 3-DOF redundant spatial parallel mechanism (SPM) and a 3-DOF planar parallel mechanism (PPM), which has three rotational and three translational DOFs. According to the step-by-step pose adjusting strategy, the kinematics analyses of the lower and upper modules have been carried out systematically. For the whole hybrid mechanism, a complete kinematic model has been established; and visualized workspace of the kinematic model with regular shape and large volume demonstrates profound application prospects in engineering. In order to evaluate the performance of the proposed mechanism, experimental tests have been conducted in an automated docking system for pose adjustment of large and heavy components. The analysis results demonstrate the effectiveness and practicability of the new mechanism.
AB - In this paper, a novel 6-degrees-of-freedom (DOF) hybrid mechanism is proposed to realize position and posture adjusting for large-volume equipment. The designed hybrid manipulator is composed of the lower and upper modules, namely, a 3-DOF redundant spatial parallel mechanism (SPM) and a 3-DOF planar parallel mechanism (PPM), which has three rotational and three translational DOFs. According to the step-by-step pose adjusting strategy, the kinematics analyses of the lower and upper modules have been carried out systematically. For the whole hybrid mechanism, a complete kinematic model has been established; and visualized workspace of the kinematic model with regular shape and large volume demonstrates profound application prospects in engineering. In order to evaluate the performance of the proposed mechanism, experimental tests have been conducted in an automated docking system for pose adjustment of large and heavy components. The analysis results demonstrate the effectiveness and practicability of the new mechanism.
KW - Automated docking
KW - hybrid serial-parallel mechanism
KW - large-volume components
KW - pose alignment system
UR - https://www.scopus.com/pages/publications/85109153012
U2 - 10.1177/09544062211026347
DO - 10.1177/09544062211026347
M3 - 文章
AN - SCOPUS:85109153012
SN - 0954-4062
VL - 236
SP - 2099
EP - 2114
JO - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
JF - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
IS - 5
ER -