Control of parallel mechanisms-A geometric approach

2002 ◽  
Author(s):  
Y.K. Yiu ◽  
Z.X. Li
Keyword(s):  
Geometric Approach ◽  
Parallel Mechanisms

Determination of Maximal Singularity-Free Workspace of Parallel Mechanisms Using Constructive Geometric Approach

2013 ◽  
pp. 307-314
Author(s):  
Mohammad Hadi Farzaneh Kaloorazi ◽  
Mehdi Tale Masouleh ◽  
Stéphane Caro ◽  
Behnam Mashhadi Gholamali
Keyword(s):  
Geometric Approach ◽  
Parallel Mechanisms ◽  
Maximal Singularity

Synthesis of Planar Compliances With Mechanisms Having Six Compliant Components: Geometric Approach

2020 ◽  
Vol 12 (3) ◽  
Author(s):  
Shuguang Huang ◽  
Joseph M. Schimmels
Keyword(s):  
Compliant Mechanism ◽  
Geometric Approach ◽  
Geometric Construction ◽  
Elastic Component ◽  
Parallel Mechanisms ◽  
Elastic Joints

Abstract In this paper, the synthesis of any planar compliance with a six-component compliant mechanism is addressed. The mechanisms studied are either serial mechanisms with six elastic joints or parallel mechanisms with six springs. For each type of mechanism, conditions on the mechanism configurations that must be satisfied to realize a given compliance are developed. The geometric significance of each condition is identified and graphically represented. Geometric construction-based synthesis procedures for both types of mechanism are developed. These procedures allow one to select each elastic component from a restricted space based on its geometry.

GEOMETRIC ANALYSIS OF THE KINEMATIC SENSITIVITY OF PLANAR PARALLEL MECHANISMS

2011 ◽  
Vol 35 (4) ◽  
pp. 477-490 ◽  
Author(s):  
Mohammad Hossein Saadatzi ◽  
Mehdi Tale Masouleh ◽  
Hamid D. Taghirad ◽  
Clément Gosselin ◽  
Philippe Cardou
Keyword(s):  
Physical Meaning ◽  
Performance Index ◽  
Geometric Analysis ◽  
Geometric Approach ◽  
Sensitivity Index ◽  
Parallel Mechanisms ◽  
Dimensional Synthesis ◽  
Kinematic Sensitivity

The kinematic sensitivity is a unit-consistent measure that has been recently proposed as a mechanism performance index to compare robot architectures. This paper presents a robust geometric approach for computing this index for the case of planar parallel mechanisms. The physical meaning of the kinematic sensitivity is investigated through different combinations of the Euclidean and infinity norms and by means of several illustrative examples. Finally, this paper opens some avenues to the dimensional synthesis of parallel mechanisms by exploring the meaning of the global kinematic sensitivity index.

scholarly journals Geometric Approach to the Realization of Planar Elastic Behaviors With Mechanisms Having Four Elastic Components

2018 ◽  
Vol 10 (4) ◽  
Author(s):  
Shuguang Huang ◽  
Joseph M. Schimmels
Keyword(s):  
Sufficient Conditions ◽  
Geometric Approach ◽  
Necessary And Sufficient Conditions ◽  
Elastic Component ◽  
Elastic Behavior ◽  
Parallel Mechanisms ◽  
Compliant Joints ◽  
Necessary And Sufficient ◽  
Selection Of

This paper addresses the passive realization of any selected planar elastic behavior with redundant elastic manipulators. The class of manipulators considered are either serial mechanisms having four compliant joints or parallel mechanisms having four springs. Sets of necessary and sufficient conditions for mechanisms in this class to passively realize an elastic behavior are presented. The conditions are interpreted in terms of mechanism geometry. Similar conditions for nonredundant cases are highly restrictive. Redundancy yields a significantly larger space of realizable elastic behaviors. Construction-based synthesis procedures for planar elastic behaviors are also developed. In each, the selection of the mechanism geometry and the selection of joint/spring stiffnesses are completely decoupled. The procedures require that the geometry of each elastic component be selected from a restricted space of acceptable candidates.

A Geometric Constructive Approach for the Workspace Analysis of Symmetrical 5-PRUR Parallel Mechanisms (3T2R)

2010 ◽  
Author(s):  
Mehdi Tale Masouleh ◽  
Mohammad Hossein Saadatzi ◽  
Cle´ment Gosselin ◽  
Hamid D. Taghirad
Keyword(s):  
Geometric Approach ◽  
General Mechanism ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
End Effector ◽  
Workspace Analysis ◽  
Architecture Optimization ◽  
Insight Into ◽  
Orientation Workspace

This paper investigates an important kinematic property, the constant-orientation workspace, of five-degree-of-freedom parallel mechanisms generating the 3T2R motion and comprising five identical limbs of the PRUR type. The general mechanism originates from the type synthesis performed for symmetrical 5-DOF parallel mechanism. In this study, the emphasis is placed on the determination of constant-orientation workspace using geometrical interpretation of the so-called vertex space, i.e., motion generated by a limb for a given orientation, rather than relying on classical recipes, such as discretization methods. For the sake of better understanding a CAD model is also provided for the vertex space. The constructive geometric approach presented in this paper provides some insight into the architecture optimization. Moreover, this approach facilitates the computation of the evolution of the volume of the constant-orientation workspace for different orientations of the end-effector.

A Geometric Approach to Homology Theory

1976 ◽  
Author(s):  
S. Buonchristiano ◽  
C. P. Rourke ◽  
B. J. Sanderson
Keyword(s):  
Geometric Approach ◽  
Homology Theory

A GEOMETRIC APPROACH TO DISSIPATION AND ITS APPLICATION TO DISSIPATIVE NUCLEAR DYNAMICS

1984 ◽  
Vol 45 (C6) ◽  
pp. C6-87-C6-94
Author(s):  
H. Reinhardt ◽  
R. Balian ◽  
Y. Alhassid
Keyword(s):  
Geometric Approach ◽  
Nuclear Dynamics

Computer Modeling of a Tire under Cornering Loads

1989 ◽  
Vol 17 (2) ◽  
pp. 86-99 ◽  
Author(s):  
I. Gardner ◽  
M. Theves
Keyword(s):  
Finite Element Analysis ◽  
Geometric Approach ◽  
Lateral Force ◽  
Slip Angle ◽  
Element Analysis ◽  
Pressure Distributions ◽  
Slip Effects ◽  
Improved Accuracy ◽  
Nonlinear Geometric ◽  
Good Agreement

Abstract During a cornering maneuver by a vehicle, high forces are exerted on the tire's footprint and in the contact zone between the tire and the rim. To optimize the design of these components, a method is presented whereby the forces at the tire-rim interface and between the tire and roadway may be predicted using finite element analysis. The cornering tire is modeled quasi-statically using a nonlinear geometric approach, with a lateral force and a slip angle applied to the spindle of the wheel to simulate the cornering loads. These values were obtained experimentally from a force and moment machine. This procedure avoids the need for a costly dynamic analysis. Good agreement was obtained with experimental results for self-aligning torque, giving confidence in the results obtained in the tire footprint and at the rim. The model allows prediction of the geometry and of the pressure distributions in the footprint, since friction and slip effects in this area were considered. The model lends itself to further refinement for improved accuracy and additional applications.

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