Abstract
This article presents a novel 6-DOF cooperative parallel manipulator assembled by two independent 3-DOF parallel manipulators that can complete tasks through relative motion. It provides broader workspace, higher stiffness and better controllability for high precision machining demands compared to traditional parallel kinematics manipulator. The architectures of the two 3-DOF parallel manipulators are firstly stated, followed by inverse kinematics analysis and stiffness analysis through establishing global Jacobian matrix. Finally the cooperative parallel manipulator’s static stiffness and modal analysis are conducted. First order of natural frequency optimization is established so that optimal radius of drive rod can be achieved. Comparing the results before and after optimization, it can be seen that performances are obviously improved.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Chang, K.S., Holmberg, R., Khatib, O.: The augmented object model: Cooperative manipulation and parallel mechanism dynamics. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2000, vol. 1, pp. 470–475 (2000)
Liu, Y.H., Xu, Y., Bergerman, M.: Cooperation control of multiple manipulators with passive joints. IEEE Transactions on Robotics and Automation 15(2), 258–267 (1999)
Romdhane, L.: Design and analysis of a hybrid serial-parallel manipulator. Mechanism and Machine Theory 34(7), 1037–1055 (1999)
Waldron, K.J., Raghavan, M., Roth, B.: Kinematics of a hybrid series-parallel manipulation system. Journal of Dynamic Systems, Measurement, and Control 111(2), 211–221 (1989)
Waldron, K.J., Hunt, K.H.: Series-parallel dualities in actively coordinated mechanisms. The International Journal of Robotics Research 10(5), 473–480 (1991)
Shahinpoor, M.: Kinematics of a parallel-serial (Hybrid) manipulator. Journal of Robotic Systems 9(1), 17–36 (1992)
Sklar, M., Tesar, D.: Dynamic analysis of hybrid serial manipulator systems containing parallel modules. Journal of Mechanisms, Transmissions and Automation in Design 110(2), 109–115 (1988)
Huang, H., Deng, Z., Li, B., Liu, R.: Analysis and synthesis of a kind of mobility reconfigurable robot with multi-task capability. Journal of Advanced Mechanical Design, Systems, and Manufacturing 5(2), 87–102 (2011)
Schneider, S.A., Cannon, J. R.H.: Object impedance control for cooperative manipulation: Theory and experimental results. IEEE Transactions on Robotics and Automation 8(3), 383–394 (1992)
Callegari, M., Suardi, A.: Hybrid kinematic machines for cooperative assembly tasks. In: Proc. Intl. Workshop: Multiagent Robotic Systems: Trends and Industrial Applications, Robocup (2003)
Caccavale, F., Chiaverini, S., Natale, C.: Geometrically consistent impedance control for dual-robot manipulation. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2000, vol. 4, pp. 3873–3878. IEEE (2000)
Surdilovic, D., Grassini, F., De Bartolomei, M.: Synthesis of impedance control for complex co-operating robot assembly task. In: Proceedings of the 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, vol. 2, pp. 1181–1186. IEEE (2001)
Huang, Z., Li, Q.: Type synthesis of symmetrical lower-mobility parallel mechanisms using the constraint-synthesis method. The International Journal of Robotics Research 22(1), 59–79 (2003)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Liu, Y., Li, B., Xu, P., Huang, H. (2014). Stiffness Modeling and Optimization Analysis of a Novel 6-DOF Collaborative Parallel Manipulator. In: Zhang, X., Liu, H., Chen, Z., Wang, N. (eds) Intelligent Robotics and Applications. ICIRA 2014. Lecture Notes in Computer Science(), vol 8918. Springer, Cham. https://doi.org/10.1007/978-3-319-13963-0_6
Download citation
DOI: https://doi.org/10.1007/978-3-319-13963-0_6
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-13962-3
Online ISBN: 978-3-319-13963-0
eBook Packages: Computer ScienceComputer Science (R0)