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

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.