IEEE Robotics & Automation Magazine - June 2018 - 113

SCR Specifications and Performance Analysis
A real SCR prototype was built in our lab for validation and
demonstration, as shown in Figure 8. The performance specifications are shown in Table 1. The current 3-D-printed realization of the structural components limits the rated payload
of the SCR to 18 kg (the maximum payload is 30 kg). However, the feedback rod linear actuators in the 3-RPS parallel
mechanism are each capable of supporting up to a 68-kg static payload. Hence, with machined components, our SCR
architecture can handle up to a >70-kg payload without
increasing the robot's dimensions.
The speed performance and motion ranges of the robot
end effector (i.e., the center point on the upper platform) are
determined by the configurations of the robot and the capabilities of the actuators. For the 3-RPS parallel architecture of the
SCR, the side length of the equilateral triangle formed by the
three rotation joints is 390 mm; the side length of the equilateral triangle formed by the three spherical joints is 260 mm;

and the stoke and maximum speed of the linear actuators are
200 mm and 20 mm/s, respectively. For the mobile base, the
maximum speed of the gear motor is 75 r/min, and the outside
diameter of the Mecanum wheel is 122 mm. Based on these
configurations, including dimensions and actuator capabilities,
we derive the performance of the robot as follows:
● The maximal translational speeds for x, y, and z are 500,
500, and 20 mm/s, respectively.
● The maximal rotational speeds for roll, pitch, and yaw are
10°/s, 10°/s, and 30°/s, respectively.
● The motion ranges for x, y, and yaw are unlimited.
● The motion range for z is 600-800 mm.
● The motion ranges for roll and pitch are both ±30°.
We have set software limits to avoid running the actuators
beyond their acceptable ranges. The limit of the tilt (roll and
pitch) angles can be appropriately adjusted by controlling the
angle range thresholds based on the weight and geometric
shape of various payloads.

smart_companion
color

/smart_companion/coupled_vel
rps_kinematics
/smart_companion/base_vel

/rps_kinematics

/smart_companion/desired_linearact_vel
linear_feedback

base_kinematics
/base_kinematics

/smart_companion/linear_actuator_vel

/linear_feedback

rps_vel_pid
/smart_companion/linear_actuator_len

interact_model

/rps_vel_pid

/smart_companion/desired_velocity
base_vel_pid

/interact_model
/smart_companion/wheel_len

/base_vel_pid

encoder_feedback
/encoder_feedback

/smart_companion/desired_wheel_speed

top_control
/top_control

/smart_companion/ft_to_desired_centervel

Figure 7. The publish-subscribe relationships among the ROS nodes of the SCR.

june 2018

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IEEE Robotics & Automation Magazine - June 2018

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2018

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