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Volume 14
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Article

Design and Performance Analysis of a Novel Group of Translational Parallel Robots for a Three-Axis Grinding Machine

by
Qi Zou
1,*,
Yuancheng Shi
2,
Shuo Zhang
3,
Haiqiang Zhang
4,
Lijian Li
5,
Guanyu Huang
6 and
Dan Zhang
7,*
1
Robotics Engineering, Columbus State University, Columbus, GA 31907, USA
2
School of Electrical Engineering, Hanyang University, Ansan 15588, Republic of Korea
3
Lassonde School of Engineering, York University, Toronto, ON M3J 1P3, Canada
4
College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao 266590, China
5
School of Mechanical Engineering, North China University of Water Resources and Electric Power, Zhengzhou 450045, China
6
Institute of Intelligence and Digitization, China Resources Research Institute of Science and Technology, Hong Kong Science Park, Hong Kong, China
7
Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong, China
*
Authors to whom correspondence should be addressed.
Electronics 2025, 14(3), 427; https://doi.org/10.3390/electronics14030427
Submission received: 24 December 2024 / Revised: 15 January 2025 / Accepted: 20 January 2025 / Published: 22 January 2025
(This article belongs to the Special Issue Intelligent Perception and Control for Robotics)
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Abstract

There are limited parallel robots applicable to three-axis grinding machines due to the restricted reachable workspace originating from multiple kinematic chains with spatial kinematic joints. The parallel robot will gain significant potential in the industry if a larger workspace can be achieved. This research introduces a special relationship between upper triangular matrix and parallel robot structures for the purpose of designing a group of novel parallel robots without spatial kinematic joints. The detailed inverse kinematic solution of the selected parallel manipulator is derived in accordance with its straightforward architecture. Several singularity configurations are found on the basis of the first-order kinematic relation. The translational reachable workspace is close to a triangular prism. The dexterity and stiffness performances based on the Jacobian matrix are explored for the chosen parallel manipulator. Both indices display a downward trend as the mobile platform rises higher.
Keywords: parallel robot; parallelogram mechanism; kinematic analysis; performance measurement parallel robot; parallelogram mechanism; kinematic analysis; performance measurement

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MDPI and ACS Style

Zou, Q.; Shi, Y.; Zhang, S.; Zhang, H.; Li, L.; Huang, G.; Zhang, D. Design and Performance Analysis of a Novel Group of Translational Parallel Robots for a Three-Axis Grinding Machine. Electronics 2025, 14, 427. https://doi.org/10.3390/electronics14030427

AMA Style

Zou Q, Shi Y, Zhang S, Zhang H, Li L, Huang G, Zhang D. Design and Performance Analysis of a Novel Group of Translational Parallel Robots for a Three-Axis Grinding Machine. Electronics. 2025; 14(3):427. https://doi.org/10.3390/electronics14030427

Chicago/Turabian Style

Zou, Qi, Yuancheng Shi, Shuo Zhang, Haiqiang Zhang, Lijian Li, Guanyu Huang, and Dan Zhang. 2025. "Design and Performance Analysis of a Novel Group of Translational Parallel Robots for a Three-Axis Grinding Machine" Electronics 14, no. 3: 427. https://doi.org/10.3390/electronics14030427

APA Style

Zou, Q., Shi, Y., Zhang, S., Zhang, H., Li, L., Huang, G., & Zhang, D. (2025). Design and Performance Analysis of a Novel Group of Translational Parallel Robots for a Three-Axis Grinding Machine. Electronics, 14(3), 427. https://doi.org/10.3390/electronics14030427

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