Curs 4 Roboţi cu structuri paralele şi aplicaţii

CURS 4
CONSIDERAŢII STRUCTURALE ALE ROBOŢILOR PARALELI

Se stabilesc ecuaţiile pentru sinteza structuralǎ a mecanismelor paralele cu doua pânǎ

la şase grade de mobilitate care pot conţine următoarele cuple: cuple de rotaţie, de
translaţie, cupla şurub, cilindrice, cardanice, sferice etc.

Se folosesc urmǎtoarele simboluri:

M = gradul de mobilitate al mecanismului paralel;
F = familia mecanismului – numărul de mişcări blocate comune (constrângeri
comune) pentru toate elementele mecanismului;
N = numărul de elemente mobile;
C i - numărul de cuple de clasa i.
k = numǎrul de lanţuri cinematice care conectează platforma mobila de bazǎ;
n = numǎrul de elemente ale unui lanţ cinematic pentru ghidarea platformei in
cazul structurilor simetrice;
ci = numǎrul de cuple de clasa “i” a unui lant cinematic pentru ghidarea
platformei.

Numărul de grade de mobilitate al mecanismului se poate determina utilizând relaţia:

M  6  F   N  5  F   C5  4  F   C 4  3  F   C3 (1)
 2  F   C 2  1  F   C1

Obs. În ecuaţia (1) factorii (1-F),...,(5-F) nu pot lua valori negative.

Numărul de elemente ale unui mecanism paralel se determină prin rezolvarea

ecuaţiei (1) în numere întregi:

1
N [M  (5  F)C 5  (4  F)C 4  (3  F)C 3  (2  F)C 2  (1  F)C1 ] (2)
6F

Pentru structurile paralele simetrice care posedă lanţuri cinematice identice există
relaţiile:

N  kn  1 Ci  kci (3)

Folosind ecuaţia (3) se obţine numărul de elemente pe un lanţ cinematic:

 Curs 4 Roboţi cu structuri paralele şi aplicaţii

1
n [M  (6  F)  k[(5  F)c5,  (4  F)c 4  (3  F)c3 
k (6  F)
 (2  F)c 2  (1  F)c1 ]]
(4)

Pentru M  6  F numǎrul de elemente a unui lant cinematic este indepenedent

de numǎrul k al ramurilor:
M  6  F, n 
1
5  F   c  4  F   c  3  F   c
5 4
(5)
3
6F
 2  F   c 2  1  F   c1 
În cazul în care mecanismul are numai cuple de clasa a 5-a:
C 4  C3  C 2  C1  0, c 4  c3  c 2  c1  0 (6)
ecuaţiile (1), (2), (4), (5) devin:
M  6  F   N  55  F   C5 (7)
N
1
M  5  F   C5  (8)
6F
n
1
M  6  F   k 5  F   c5  (9)
k (6  F )
5 F
M  6F ; n  c5 (10)
6F

Pornind de la aceste formule de sintezǎ structuralǎ se pot obţine mecanisme

paralele cu diferite grade de mobilitate având structurǎ simetricǎ sau asimetricǎ.
În cele ce urmeazǎ se vor prezenta mai multe exemple de roboţi şi microroboţi
paraleli având două până la şase grade de mobilitate cu aplicaţii în industria fabricării
componentelor pentru automobile şi microasamblare. Roboţii au ca şi cuple active
motoare lineare si pentru cuplele pasive cuple de rotaţie. In final sunt prezentate si
douǎ structuri cu 5 si 6 grade de mobilitate care pot fi aplicate in chirurgia minim
invazivǎ.
In figurile 3, 4, 8, 9, 12, S x , S y , S z reprezintǎ translaţii de a lungul axelor X, Y
respectively Z şi D x , D y , D z reprezintǎ rotaţii în jutul axelor X, Y respectiv Z. 1, 2,…
sunt elementele mecanismului, “+” semnificǎ o posibilǎ mişcare a elementului
(translaţie sau rotatie); “-” semnificǎ nici o mişcare a elementelor.
 Curs 4 Roboţi cu structuri paralele şi aplicaţii

A. Mecanisme paralele cu douǎ grade de mobilitate

Fig.1. Symmetric parallel mechanism of Fig. 2. Asymmetric parallel mechanism

F=0 family, with M=2 degrees of of F=0 family, with M=2 degrees of
mobility (N=7, C5=8, n=3, c5=4) mobility (N=4, C5=2, C4=1, C3=1)

In the figure 3 no elements perform any rotation around the Oz axis, thus F=1.

Fig. 3. Asymmetric parallel mechanism with F=1 and M=2 degrees of mobility
(N=6, C5=7)

In the figure 4 no elements perform any translation along the OX, OY axes and any
rotation around the OX, OY axes, thus F=4.
 Curs 4 Roboţi cu structuri paralele şi aplicaţii

Fig.4. Spatial parallel mechanism of family F=4 with M=2 d.o.m. (N=3, C4=4, n=1,
c5=2)
Y Y
e e
2
2
4
b y 6
xP 3
x P yP b
P XP YP
b
x q2 y
a yP 1
q2 3 4 P (X Y )
1 P P

b
5 x
d YP q1 d YP
q1
X
X XP
Fig.5. Plan-parallel mechanism of family Fig.6. Plan parallel mechanism of
F=3 with M=2 degrees of mobility with family F=3 with M=2 degrees of
constant orientation of the end-effector mobility with constant orientation of
the end-effector (N=4, C5=5)
 Curs 4 Roboţi cu structuri paralele şi aplicaţii

In the figure 8 no elements perform any translation along the OZ axis and any
rotation around the OX, OY, OZ axes, thus F=4.
Y
e

c
4
q 2-q1

c
q2 1 c 3
P (X Y )
P P

q1 YP
X
XP

Fig.7. Plan parallel mechanism Fig.8. Symmetric plan parallel mechanism of

of family F=3 with M=2 d.o.m. family F=4 with M=2 degrees of mobility (N=3,
(N=4, C5=5) C5=4, n=1, c5=2)

Fig. 9. Spherical parallel mechanism of family F=3 with M=2 degrees of mobility
(N=4, C5=5)
 Curs 4 Roboţi cu structuri paralele şi aplicaţii

B. Parallel mechanisms with three degrees of mobility

Fig.10. Symmetric parallel mechanism of Fig.11. Symmetric parallel mechanism of

F=0 family, with M=3 degrees of mobility F=0 family, with M=3 degrees of mobility
(N=13, C5=15, n=4, c5=4) (N=7, C5=6, C3=3, n=2, c5=2)
In the figure 12 no elements perform any rotation around the Oz axis, thus F=1.

Fig.12. Symmetric parallel mechanism of F=1 family, with M=3 d.o.m. (N=7, C5=8,
n=3, c4=4)
 Curs 4 Roboţi cu structuri paralele şi aplicaţii

C. Parallel mechanisms with four degrees of mobility

Fig.13. Asymmetric parallel mechanism Fig.14. Asymmetric parallel mechanism

of F=0 family, with M=4 degrees of of F=0 family, with M=4 degrees of
mobility (N=10, C5=7, C4=3, C3=3) mobility (N=11, C5=10, C3=4)
D. Parallel mechanisms with five degrees of mobility

Fig.15. Asymmetric parallel mechanism Fig.16. Asymmetric parallel

of F=0 family, with M=5 degrees of mechanism of F=0 family, with M=5
mobility (N=25, C5=29) degrees of mobility (N=11, C5=6 C3=5)

Fig.17. Asymmetric parallel mechanism of F=0 family, with M=5 degrees of

mobility (N=11, C5=6 C4=4, C3=5)
 Curs 4 Roboţi cu structuri paralele şi aplicaţii

E. Parallel mechanisms with six degrees of mobility

Fig.18. Asymmetric parallel mechanism of Fig.19. Symmetric parallel mechanism

F=0 family, with M=6 d.o.m. (N=4, C5=1, of F=0 family, with M=6 d.o.m. (N=13,
C4=1, C3=3) C5=6, C3=6, n=2, c4=1, c3=1)
Cartersian parallel actuator Cartersian parallel actuator
z1 with f=3 d.o.f.
with f=3 d.o.f.
O1(a1, b1, c1)
q3 z1 Cartersian parallel actuator
y1 with f=3 d.o.f.
x1 f=3 O1(a 1 , b1 , c1 )
q1 q3 y1 z2
x1 f=3
q2 1 O2(a 2, b 2 , c 2)
Cartersian parallel actuator q1 y2
with f=2 d.o.f. z2 f=2 x2
q2 1 q6 f=3
q5 2 A1 X0 A1 Y0A1 Z0A1
e q4
A1 X0 A1 Y0A1 Z0A1
6 y q5
f=2 2
O2(a2, b2, c2) q5 f=1 x
4 a b z f=3
q4 Z 4 a
Z y2 y A2 Xa A2 Y0A2 Z0A2
x2 b 3 Laparoscopic
x
f=3 instrument 3 Laparoscopic
q4 XP YP ZP instrument
f=2 B2(a2, b2, c2) P x P yP zP Y f=1
A2 XA2 YA2 ZA2
a 0 0 X XP YP ZP
Y P x P yP zP

X
Fig.20. Parallel mechanism of F=0 Fig.21. Parallel mechanism of F=0
family, with M=5 d.o.m (N=4, C5=1, family, with M=6 d.o.m. (N=4, C5=1, C4=1,
C4=2, C3=2) C3=1)

Fig. 22. Machine with parallel structure for spherical mirror cutting in the car industry based
on the common patent [25] (a – the machine; b – Parallel mechanism with M=4 d.o.m. (z,
θ,φ,ψ ) detail of the cutting tool)
 Curs 4 Roboţi cu structuri paralele şi aplicaţii

Fig.23. Detail of the cutting tool for the Machine with parallel structure for spherical
mirror cutting based on the common patent [25]

Fig.24. Parallel robot with M=6 d.o.m. Fig. 25. Parallel joints based on elastic
with linear actuators built based on hinges having f = 1, f =2 and
the common patent [26] f = 3 degrees of mobility

In case of parallel microrobots or compliant parallel robots there are used

pseudo-elastic joints (fig. 25) having f =1 , f = 2 or f =3 degrees of mobility.