Design and optimization of a novel pneumatic translational manipulator with independent constraints

IF 5.2 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Robotics and Autonomous Systems Pub Date : 2025-07-11 DOI:10.1016/j.robot.2025.105125

Tao Wang, Ying Zhao, Bo Wang

{"title":"Design and optimization of a novel pneumatic translational manipulator with independent constraints","authors":"Tao Wang, Ying Zhao, Bo Wang","doi":"10.1016/j.robot.2025.105125","DOIUrl":null,"url":null,"abstract":"<div><div>Pneumatic parallel translation robots offer several advantages in complex industrial production environments, such as a simple structure, high cleanliness, and excellent safety. This paper presents a novel split-type translational manipulator structure 3S<u>P</u>S+3CPR. The independent restraining limbs (3-CPR) effectively constrain undesired degrees of freedom at the platform's end without compromising the kinematic properties of the manipulator. This paper provides kinematic, workspace analysis, and performance evaluation, and furthermore, proposes a dimensional optimization scheme for the manipulator based on motion/force transmission performance and geometric constraints. Prototype experiments have been conducted to validate the rationality and efficacy of the overall design. Compared to traditional integrated drive-constrained translational mechanisms, this pure linear transmission design features simple analysis, flexible design, and fewer associated parameters. Additionally, using cylinders as actuators endows the manipulator with rapid response characteristics, making it suitable for industrial applications requiring fast translation.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"194 ","pages":"Article 105125"},"PeriodicalIF":5.2000,"publicationDate":"2025-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Robotics and Autonomous Systems","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0921889025002222","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}

引用次数: 0

Abstract

Pneumatic parallel translation robots offer several advantages in complex industrial production environments, such as a simple structure, high cleanliness, and excellent safety. This paper presents a novel split-type translational manipulator structure 3SPS+3CPR. The independent restraining limbs (3-CPR) effectively constrain undesired degrees of freedom at the platform's end without compromising the kinematic properties of the manipulator. This paper provides kinematic, workspace analysis, and performance evaluation, and furthermore, proposes a dimensional optimization scheme for the manipulator based on motion/force transmission performance and geometric constraints. Prototype experiments have been conducted to validate the rationality and efficacy of the overall design. Compared to traditional integrated drive-constrained translational mechanisms, this pure linear transmission design features simple analysis, flexible design, and fewer associated parameters. Additionally, using cylinders as actuators endows the manipulator with rapid response characteristics, making it suitable for industrial applications requiring fast translation.

查看原文本刊更多论文

一种新型独立约束气动平移机械手的设计与优化

气动并联平移机器人在复杂的工业生产环境中具有结构简单、清洁度高、安全性优异等优点。提出了一种新的分体式平移机械手结构3SPS+3CPR。独立约束肢（3-CPR）在不影响机械手运动特性的情况下，有效地约束了平台末端不期望的自由度。本文对机械手进行了运动学、工作空间分析和性能评价，并提出了基于运动/力传递性能和几何约束的机械手尺寸优化方案。通过样机实验验证了总体设计的合理性和有效性。与传统的集成驱动约束平移机构相比，这种纯线性传动设计具有分析简单、设计灵活、相关参数少等特点。此外，使用气缸作为执行器使机械手具有快速响应特性，使其适合需要快速平移的工业应用。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Robotics and Autonomous Systems 工程技术-机器人学

CiteScore

9.00

自引率

7.00%

发文量

164

审稿时长

4.5 months

期刊介绍： Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.