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Workspace analysis of axial offset joint based on parameterization

Published online by Cambridge University Press:  23 June 2023

Peiyi Li Open the ORCID record for Peiyi Li [Opens in a new window] ,
Hasiaoqier Han ,
Chunlong Liu ,
Biao Ren ,
Qingwen Wu  and
Zhenbang Xu
Peiyi Li
Affiliation:
Chinese Academy of Sciences, Changchun Institute of Optics, Fine Mechanics and Physics, Changchun, 130033, China Center of Materials Science and Optoelectronics Engineering, University of Chinese Academy of Sciences, Beijing 100049, China Chinese Academy of Sciences Key Laboratory of On-orbit Manufacturing and Integration for Space Optics System, Changchun 130033, China
Hasiaoqier Han*
Affiliation:
Chinese Academy of Sciences, Changchun Institute of Optics, Fine Mechanics and Physics, Changchun, 130033, China Center of Materials Science and Optoelectronics Engineering, University of Chinese Academy of Sciences, Beijing 100049, China Chinese Academy of Sciences Key Laboratory of On-orbit Manufacturing and Integration for Space Optics System, Changchun 130033, China
Chunlong Liu
Affiliation:
Chinese Academy of Sciences, Changchun Institute of Optics, Fine Mechanics and Physics, Changchun, 130033, China Center of Materials Science and Optoelectronics Engineering, University of Chinese Academy of Sciences, Beijing 100049, China Chinese Academy of Sciences Key Laboratory of On-orbit Manufacturing and Integration for Space Optics System, Changchun 130033, China
Biao Ren
Affiliation:
Chinese Academy of Sciences, Changchun Institute of Optics, Fine Mechanics and Physics, Changchun, 130033, China Center of Materials Science and Optoelectronics Engineering, University of Chinese Academy of Sciences, Beijing 100049, China Chinese Academy of Sciences Key Laboratory of On-orbit Manufacturing and Integration for Space Optics System, Changchun 130033, China
Qingwen Wu*
Affiliation:
Chinese Academy of Sciences, Changchun Institute of Optics, Fine Mechanics and Physics, Changchun, 130033, China Center of Materials Science and Optoelectronics Engineering, University of Chinese Academy of Sciences, Beijing 100049, China Chinese Academy of Sciences Key Laboratory of On-orbit Manufacturing and Integration for Space Optics System, Changchun 130033, China
Zhenbang Xu
Affiliation:
Chinese Academy of Sciences, Changchun Institute of Optics, Fine Mechanics and Physics, Changchun, 130033, China Center of Materials Science and Optoelectronics Engineering, University of Chinese Academy of Sciences, Beijing 100049, China Chinese Academy of Sciences Key Laboratory of On-orbit Manufacturing and Integration for Space Optics System, Changchun 130033, China
*
Corresponding authors: Hasiaoqier Han, Qingwen Wu; Emails: hanhasiaoqier@yahoo.com, wuqw@ciomp.ac.cn
Corresponding authors: Hasiaoqier Han, Qingwen Wu; Emails: hanhasiaoqier@yahoo.com, wuqw@ciomp.ac.cn
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Abstract

The axial offset joint has two rotating axes that do not intersect but have a specific offset in space. It is used widely in parallel manipulators (PMs). The offset-joint workspace can directly affect the PM workspace. This study performed a theoretical derivation and workspace analysis of a class of axial offset joints. First, a theoretical parametric model describing the rotation range of the offset joint is established that considers the interference of the offset joint because of the contact between the upper- and lower-joint brackets during movement. Second, the analytical expressions of the offset-joint workspace are formulated based on the coordinate system transformation. The offset-joint workspace is theoretically calculated in this study using formulations. Then, through a comparative analysis, the superiority of the offset joint compared with the universal joint is verified. The theoretical formulations in this paper can be used to calculate the workspace of a class of axial offset joints. Finally, based on a workspace analysis of three types of PMs using offset, universal, and spherical joints, the offset-joint PM workspace is much larger than those of the other two types.

Keywords

parallel manipulatorsworkspaceaxial offset jointinterferencedesign
Type
Research Article
Information
Robotica , Volume 41 , Issue 9 , September 2023 , pp. 2882 - 2906
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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