Session: MR-01-01 Mechanisms Synthesis & Analysis

Paper Number: 70378

Start Time: August 19, 11:10 AM

70378 - Design and Kinematic Analysis of a Novel 2-DoF Closed-Loop Mechanism for the Actuation of Machining Robots 

The use of autonomous manipulators has greatly improved the industrial processes, such as machining, making them faster, safer, and more accurate. In the context of machining, the most essential characteristics of those autonomous manipulators are their stiffness and their accuracy. When used in this context, serial robots have many advantages, including a large workspace, but they lack the necessary stiffness to accomplish high machining effort tasks. One way to increase the stiffness of serial manipulators is to make their joints using closed-loop or parallel mechanisms instead of using the classical prismatic and revolute joints. This method increases the accuracy of a manipulator without reducing its workspace. In this paper, an innovative two degrees of freedom closed-loop mechanism is introduced. It is shown how this mechanism can be used to build high stiffness and large workspace serial robots. In order to correctly understand the characteristics of a robot built in this way, the design of the novel mechanism is described, and its geometric and kinematic models are presented. The geometric model is computed using the formalism introduced by Bonev to describe zero-torsion mechanisms. Then, the kinematic performance of the mechanism is analyzed using the dexterity of its Jacobian matrix. Finally, a serial arrangement of several such mechanisms is proposed to obtain a potential design of a machining robot.

Presenting Author: Angelica Ginnante Nimbl'Bot - Laboratoire des Sciences du Numerique de Nantes - DIBRIS(University of Genova)

Authors:

Angelica Ginnante Nimbl'Bot
François Leborne Nimbl'Bot
Caro Stéphane Laboratoire des Sciences du Numerique de Nantes (LS2N)
Enrico Simetti University of Genova
Giuseppe Casalino University of Genova