We present a novel 4-DOF (degrees of freedom) parallel robot designed for five-axis micromachining applications. Two of its five telescoping legs operate simultaneously, thus acting as an extensible parallelogram linkage, and in conjunction with two other legs control the position of the tooltip. The fifth leg controls the tilt of the end-effector (a spindle), while a turntable fixed at the base of the robot controls the swivel of the workpiece. The robot is capable of tilting its end-effector up to 90 deg, for any tooltip position. In this paper, we study the mobility of the new parallel kinematic machine (PKM), describe its inverse and direct kinematic models, then study its singularities, and analyze its workspace. Finally, we propose a potential mechanical design for this PKM utilizing telescopic actuators as well as the procedure for optimizing it. In addition, we discuss the possibility of using constant-length legs and base-mounted linear actuators in order to increase the volume of the workspace.
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June 2019
Research-Article
A New 4-DOF Fully Parallel Robot With Decoupled Rotation for Five-Axis Micromachining Applications
Oleksandr Stepanenko,
Oleksandr Stepanenko
Department of Systems Engineering,
École de technologie supérieure,
1100 Notre-Dame Street West,
Montreal, QC,
e-mail: oleksandr.stepanenko.1@ens.etsmtl.ca
École de technologie supérieure,
1100 Notre-Dame Street West,
Montreal, QC,
Canada
H3C 1K3e-mail: oleksandr.stepanenko.1@ens.etsmtl.ca
Search for other works by this author on:
Ilian A. Bonev,
Ilian A. Bonev
1
Department of Systems Engineering,
École de technologie supérieure,
1100 Notre-Dame Street West,
Montreal, QC,
e-mail: ilian.bonev@etsmtl.ca
École de technologie supérieure,
1100 Notre-Dame Street West,
Montreal, QC,
Canada
H3C 1K3e-mail: ilian.bonev@etsmtl.ca
1Corresponding author.
Search for other works by this author on:
Dimiter Zlatanov
Dimiter Zlatanov
Search for other works by this author on:
Oleksandr Stepanenko
Department of Systems Engineering,
École de technologie supérieure,
1100 Notre-Dame Street West,
Montreal, QC,
e-mail: oleksandr.stepanenko.1@ens.etsmtl.ca
École de technologie supérieure,
1100 Notre-Dame Street West,
Montreal, QC,
Canada
H3C 1K3e-mail: oleksandr.stepanenko.1@ens.etsmtl.ca
Ilian A. Bonev
Department of Systems Engineering,
École de technologie supérieure,
1100 Notre-Dame Street West,
Montreal, QC,
e-mail: ilian.bonev@etsmtl.ca
École de technologie supérieure,
1100 Notre-Dame Street West,
Montreal, QC,
Canada
H3C 1K3e-mail: ilian.bonev@etsmtl.ca
Dimiter Zlatanov
1Corresponding author.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received August 29, 2018; final manuscript received January 31, 2019; published online April 9, 2019. Assoc. Editor: Shaoping Bai.
J. Mechanisms Robotics. Jun 2019, 11(3): 031010 (10 pages)
Published Online: April 9, 2019
Article history
Received:
August 29, 2018
Revision Received:
January 31, 2019
Accepted:
February 7, 2019
Citation
Stepanenko, O., Bonev, I. A., and Zlatanov, D. (April 9, 2019). "A New 4-DOF Fully Parallel Robot With Decoupled Rotation for Five-Axis Micromachining Applications." ASME. J. Mechanisms Robotics. June 2019; 11(3): 031010. https://doi.org/10.1115/1.4042849
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