Development of a Balanced 3D Translational Interconnected Manipulator with Solely Rotary Joints/Actuators and Free-Internal-Singularity Workspace

Ahmed Sameh*, Mohamed Fanni, Victor Parque, Abdelfatah M. Mohamed

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

Abstract

A new interconnected translational manipulator is proposed. It is the only interconnected manipulator that makes such motion using revolute joints and three rotary actuators. Rotary joints and actuators are favored practically than their linear counterparts due to their lower price, lower size of installation and higher reliability. The configuration of the proposed manipulator allows it to maintain, to a large extent, the combined merits of serial and parallel manipulators. In contrast to all other existing interconnected manipulators, the proposed manipulator has free-internal-singularity workspace. Using a practical proposed methodology, a balancing system is developed that reduces dramatically the power consumption and facilitates using small-sized-motors. The mobility analysis is carried out using a newly developed methodology suitable for interconnected manipulators. Closed forms for position and velocity kinematics as well as for maximum cuboid workspace are derived. The developed mechanical design is validated by finite element analysis. The controller performance is tested using ADAMS MATLAB/Simulink co-simulation. The results indicate the feasibility of the proposed manipulator and its advantages over existing translational manipulators from engineering as well as economic viewpoints.

Original languageEnglish
Pages (from-to)167880-167899
Number of pages20
JournalIEEE Access
Volume9
DOIs
Publication statusPublished - 2021

Keywords

  • Industrial manipulator
  • balance
  • free-internal singularities
  • kinematic analysis
  • rotary actuators
  • translational motion

ASJC Scopus subject areas

  • Computer Science(all)
  • Materials Science(all)
  • Engineering(all)

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