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This article presents a new family of kinematically redundant parallel mechanisms (KR-PMs) with two rotations and one translation (2R1T) based on the Lie group method. Compared with the 2-UPR/RPU PM, these PMs have two main advantages, namely, larger reachable workspaces of the moving platforms and higher motion/force transmission performance, as verified by three typical cases. The inverse kinematics, velocities, singularities, and workspaces of the 2-UPR/PRPU PM are analyzed in detail. A new method for motion/force transmission performance evaluation of KR-PMs in accordance with the indices for nonredundant PMs is proposed. Moreover, the local and global motion/force transmission performances of the 2-UPR/PRPU PM are determined using the new method. [ABSTRACT FROM AUTHOR]

This article presents a new family of kinematically redundant parallel mechanisms (KR-PMs) with two rotations and one translation (2R1T) based on the Lie group method. Compared with the 2-UPR/RPU PM, these PMs have two main advantages, namely, larger reachable workspaces of the moving platforms and higher motion/force transmission performance, as verified by three typical cases. The inverse kinematics, velocities, singularities, and workspaces of the 2-UPR/PRPU PM are analyzed in detail. A new method for motion/force transmission performance evaluation of KR-PMs in accordance with the indices for nonredundant PMs is proposed. Moreover, the local and global motion/force transmission performances of the 2-UPR/PRPU PM are determined using the new method. [ABSTRACT FROM AUTHOR]

Kinematic calibration is commonly used to improve the accuracy of a parallel mechanism. This paper presents an effective method for calibrating an overconstrained three degrees-of-freedom parallel manipulator employing a direct kinematic model. An error-mapping function is formulated from the differential of its kinematic model which is established through vector chains with the geometrical errors. To simplify the measurement of the error, the positioning and orientation error of the moving platform is replaced by the positioning error of the tool center point, which can be measured by a laser tracker accurately. Three different objective functions F1, F2, and F∞, respectively, representing 1-norm, 2-norm, and inf-norm of the error vector are used to identify the geometrical parameters of the manipulator. The results of computer simulation show that parameters after kinematic calibration through minimizing the objective function F2 is highly accurate and efficient. A calibration experiment is carried out to verify the effectiveness of the method. The maximum residual of calibration points reduces greatly from 3.904 to 0.256 mm during parameter identification. The positioning errors of all points on and inside the space surrounded by the calibration points are smaller than 0.4 mm after error compensation. [ABSTRACT FROM AUTHOR]

The use of lower mobility parallel manipulators with less than six degrees of freedom (DOFs) has drawn a lot of interest in the area of parallel robots. In this paper, the type synthesis of 3R2T 5-DOF parallel mechanisms (PMs) is performed systematically using the Lie group of displacements, where R denotes a rotational DOF, and T denotes a translational DOE. First, some necessary theoretical fundamentals about the displacement group are recalled. Then, a general approach is proposed for the type synthesis of 3R2T 5-DOE PMs. The limb kinematic chains, which produce the desired displacement manifolds, are synthesized and enumerated. Structural conditions, which guarantee that the intersection of the displacement manifolds generated by the limb is the desired 5-DOF manifold, are presented. An exhaustive enumeration of 3R2T 5-DOF symmetrical PMs is obtained. Finally, an input selection method is proposed. [ABSTRACT FROM AUTHOR]