Design and Performance Research of Detection Platform based on Spherical Parallel Mechanism

In order to improve the accuracy of automatic visual inspection of photoelectric products,a kind of prototype of 4SPS/S spherical parallel mechanism (PM) adjustment platform with redundant driving branches is developed. The redundant 4SPS/S PM is of three-rotational degrees of freedom(DOF)around the...

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Main Author: Zhu Xiaorong Zhou Yudong Hu Yang Song Yueyue Deng Jiaming Shen Huiping
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2019-01-01
Series:Jixie chuandong
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Online Access:http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.11.026
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author Zhu Xiaorong Zhou Yudong Hu Yang Song Yueyue Deng Jiaming Shen Huiping
author_facet Zhu Xiaorong Zhou Yudong Hu Yang Song Yueyue Deng Jiaming Shen Huiping
author_sort Zhu Xiaorong Zhou Yudong Hu Yang Song Yueyue Deng Jiaming Shen Huiping
collection DOAJ
description In order to improve the accuracy of automatic visual inspection of photoelectric products,a kind of prototype of 4SPS/S spherical parallel mechanism (PM) adjustment platform with redundant driving branches is developed. The redundant 4SPS/S PM is of three-rotational degrees of freedom(DOF)around the center of the platform and used for obtaining the image information of the inspected parts from arbitrary angle. Firstly,the kinematics model of the PM is established, and the forward and inverse kinematics equations and Jacobian matrix are derived. Moreover,the singularity is discussed based on Jacobian matrix in terms of rank deficiency, and it is also proved that the redundant drive branch chain can eliminate the singularity in the mechanism. Based on non-redundant decomposition of Jacobian matrix,an evaluation index of force transmissibility suitable for redundantly PM is proposed. Secondly,the influence of the spherical joints layout on kinematical performance of the PM is analyzed,and a set of layout of the spherical joints with large attitude space and good dexterity is obtained. Further,the prototype of spherical parallel detection platform is designed and manufactured. Finally,the distribution of posture space, dexterity and force transfer performance of the prototype in posture space is analyzed and drawn. The results show that the prototype has large rotation space, no internal singularity, high dexterity and force transfer performance, and uniform distribution,which can meet the detection process requirements of photoelectric product.
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institution Kabale University
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publishDate 2019-01-01
publisher Editorial Office of Journal of Mechanical Transmission
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series Jixie chuandong
spelling doaj-art-4f2800e5d9904edea27853c447ad8b302025-01-10T14:45:57ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-01-0114314931612103Design and Performance Research of Detection Platform based on Spherical Parallel MechanismZhu Xiaorong Zhou Yudong Hu Yang Song Yueyue Deng Jiaming Shen HuipingIn order to improve the accuracy of automatic visual inspection of photoelectric products,a kind of prototype of 4SPS/S spherical parallel mechanism (PM) adjustment platform with redundant driving branches is developed. The redundant 4SPS/S PM is of three-rotational degrees of freedom(DOF)around the center of the platform and used for obtaining the image information of the inspected parts from arbitrary angle. Firstly,the kinematics model of the PM is established, and the forward and inverse kinematics equations and Jacobian matrix are derived. Moreover,the singularity is discussed based on Jacobian matrix in terms of rank deficiency, and it is also proved that the redundant drive branch chain can eliminate the singularity in the mechanism. Based on non-redundant decomposition of Jacobian matrix,an evaluation index of force transmissibility suitable for redundantly PM is proposed. Secondly,the influence of the spherical joints layout on kinematical performance of the PM is analyzed,and a set of layout of the spherical joints with large attitude space and good dexterity is obtained. Further,the prototype of spherical parallel detection platform is designed and manufactured. Finally,the distribution of posture space, dexterity and force transfer performance of the prototype in posture space is analyzed and drawn. The results show that the prototype has large rotation space, no internal singularity, high dexterity and force transfer performance, and uniform distribution,which can meet the detection process requirements of photoelectric product.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.11.026Spherical parallel mechanism
spellingShingle Zhu Xiaorong Zhou Yudong Hu Yang Song Yueyue Deng Jiaming Shen Huiping
Design and Performance Research of Detection Platform based on Spherical Parallel Mechanism
Jixie chuandong
Spherical parallel mechanism
title Design and Performance Research of Detection Platform based on Spherical Parallel Mechanism
title_full Design and Performance Research of Detection Platform based on Spherical Parallel Mechanism
title_fullStr Design and Performance Research of Detection Platform based on Spherical Parallel Mechanism
title_full_unstemmed Design and Performance Research of Detection Platform based on Spherical Parallel Mechanism
title_short Design and Performance Research of Detection Platform based on Spherical Parallel Mechanism
title_sort design and performance research of detection platform based on spherical parallel mechanism
topic Spherical parallel mechanism
url http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.11.026
work_keys_str_mv AT zhuxiaorongzhouyudonghuyangsongyueyuedengjiamingshenhuiping designandperformanceresearchofdetectionplatformbasedonsphericalparallelmechanism