Design and Analysis of 6-DOF Triple Scissor Extender Robots With Applications in Aircraft Assembly
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dgonz_asada_ICRA2017_Final.pdf
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2.51 MB
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Adobe PDF
Checksum (MD5)
2ecb5dd46268cc969d365bfc6e0666ec
Author(s)
Gonzalez, Daniel Jesus
Asada, Haruhiko
Date Issued
July 2017
Journal
IEEE Robotics and Automation Letters
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Gonzalez, Daniel J. and H. Harry Asada. "Design and Analysis of 6-DOF Triple Scissor Extender Robots With Applications in Aircraft Assembly." IEEE Robotics and Automation Letters 2, 3 (July 2017): 1420 - 1427 © 2017 IEEE
Version
Author's final manuscript
Abstract
A new type of parallel robot mechanism with an extendable structure is presented, and its kinematic properties and design parameters are analyzed. The triple scissor extender (TSE) is a six-degree-of-freedom robotic mechanism for reaching high ceilings and positioning an end effector. Three scissor mechanisms are arranged in parallel, with the bottom ends coupled to linear slides, and the top vertex attached to an end effector plate. Arbitrary positions and orientations of the end effector can be achieved through the coordinated motion of the six linear actuators located at the base. By changing key geometric parameters, the TSE's design can yield a specific desired workspace volume and differential motion behavior. A general kinematic model for diverse TSEs is derived, and the kinematic properties, including workspace, singularity, and the Jacobian singular values, are evaluated. From these expressions, four key design parameters are identified, and their sensitivity upon the workspace volume and the Jacobian singular values is analyzed.A case study in autonomous aircraft assembly is presented using the insights gained from the design parameter studies.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
d'Arbeloff Lab for Information Sytems and Technology (Massachusetts Institute of Technology)
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Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/lra.2017.2671366
