Visual design study and implementation for 3 DOF parallel kinematic manipulator

2006 ◽  
Author(s):  
Tong Zhizhong ◽  
Jiang Hongzhou ◽  
Yan Hao ◽  
Han Junwei
Keyword(s):  
Visual Design ◽  
Design Study ◽  
Parallel Kinematic Manipulator ◽  
Parallel Kinematic

Reconfigurable Parallel Kinematic Manipulator for Flexible Manufacturing

2009 ◽  
Vol 42 (4) ◽  
pp. 145-150 ◽  
Author(s):  
Mathias Haage ◽  
Isolde Dressler ◽  
Anders Robertsson ◽  
Klas Nilsson ◽  
Torgny Brogårdh ◽  
...  
Keyword(s):  
Flexible Manufacturing ◽  
Parallel Kinematic Manipulator ◽  
Parallel Kinematic

scholarly journals Minimum-jerk trajectory planning pertaining to a translational 3-degree-of-freedom parallel manipulator through piecewise quintic polynomials interpolation

2020 ◽  
Vol 12 (3) ◽  
pp. 168781402091366 ◽  
Author(s):  
Song Lu ◽  
Bingxiao Ding ◽  
Yangmin Li
Keyword(s):  
Trajectory Planning ◽  
Virtual Work ◽  
Angular Position ◽  
Programming Algorithm ◽  
Planning Problem ◽  
Typical Application ◽  
Parallel Kinematic Manipulator ◽  
Minimum Jerk ◽  
Planning Approach ◽  
Parallel Kinematic

This article aims to present a minimum-jerk trajectory planning approach to address the smooth trajectory generation problem of 3-prismatic-universal-universal translational parallel kinematic manipulator. First, comprehensive kinematics and dynamics characteristics of this 3-prismatic-universal-universal parallel kinematic manipulator are analyzed by virtue of the accepted link Jacobian matrices and proverbial virtual work principle. To satisfy indispensable continuity and smoothness requirements, the discretized piecewise quintic polynomials are employed to interpolate the sequence of joints’ angular position knots which are transformed from these predefined via-points in Cartesian space. Furthermore, the trajectory planning problem is directly converted into a constrained nonlinear multi-variables optimization problem of which objective function is to minimize the maximum of the joints’ angular jerk throughout the whole trajectory. Finally, two typical application simulations using the reliable sequential quadratic programming algorithm demonstrate that this proposed minimum-jerk trajectory planning approach is of explicit feasibility and appreciable effectiveness.

Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces

Mechatronics ◽  
2020 ◽  
Vol 69 ◽  
pp. 102382
Author(s):  
Francisco Valero ◽  
Miguel Díaz-Rodríguez ◽  
Marina Vallés ◽  
Antonio Besa ◽  
Enrique Bernabéu ◽  
...  
Keyword(s):  
Parallel Kinematic Manipulator ◽  
Parallel Kinematic
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