Stochastic optimization method for optimized workspace of a six degree of freedom micro parallel robot

2008 ◽  
Author(s):  
Sergiu-Dan Stan ◽  
Vistrian Maties ◽  
Radu Balan
Keyword(s):  
Stochastic Optimization ◽  
Optimization Method ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
Six Degree Of Freedom

Kinematic accuracy research of a novel six-degree-of-freedom parallel robot with three legs

2016 ◽  
Vol 102 ◽  
pp. 86-102 ◽  
Author(s):  
Jianxun Fu ◽  
Feng Gao ◽  
Weixing Chen ◽  
Yang Pan ◽  
Rongfu Lin
Keyword(s):  
Parallel Robot ◽  
Degree Of Freedom ◽  
Kinematic Accuracy ◽  
Six Degree Of Freedom

scholarly journals Kinematic Modelling of a Panel Enclosed Mechanism

2021 ◽  
Author(s):  
Aaron Yu
Keyword(s):  
Parallel Robot ◽  
Detection Algorithm ◽  
Degree Of Freedom ◽  
Robot Kinematics ◽  
Kinematic Modeling ◽  
Modeling And Analysis ◽  
Additional Degree ◽  
Kinematic Modelling ◽  
Six Degree Of Freedom ◽  
Variable Geometry Truss

This thesis presents a new method for kinematic modeling and analysis of a six degree-of-freedom parallel robot enclosed by a number of sliding panels, called panel enclosed mechanism. This type of robots has been seen in applications where mechanisms are covered by changeable surfaces, such as aircraft morphing wings made of variable geometry truss manipulators. Based on the traditional parallel robot kinematics, the proposed method is developed to model the motions of a multiple segmented telescopic rigid panels that are attached to the moving branches of the mechanism. Through this modeling and analysis, a collision detection algorithm is proposed to analyze the collisions that could occur between adjacent sliding panels during motion over the workspace of the mechanism. This algorithm will help to design a set of permissible panels used to enclose the mechanism free of collision. A number of cases are simulated to show the effectiveness of the proposed method. In addition, an extra link is added to provide an additional degree-of-freedom. Various search methods are employed to evaluate optimal orientation angles to minimize collisions of adjacent panels. Finally, the effect of increased mobility is analyzed and validated as a potential solution to reduce panel collisions.

A New Design of a 6-DOF Parallel Robot

1990 ◽  
Vol 2 (4) ◽  
pp. 308-315 ◽  
Author(s):  
François Pierrot ◽  
◽  
Masaru Uchiyama ◽  
Pierre Dauchez ◽  
Alain Fournier ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Dynamic Capabilities ◽  
Inverse Dynamics ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
Mechanical Structure ◽  
Delta Robot ◽  
Good Set ◽  
Six Degree Of Freedom ◽  
Three Degree Of Freedom

This paper presents a six-degree-of-freedom parallel robot which has been recently designed. The design is based on a three-degree-of-freedom parallel robot called DELTA which was designed in Switzerland by EPFL. First, we give equations corresponding to different models of the DELTA robot: forward and inverse kinematics as well as inverse dynamics. An important feature of our method in deriving these models is to use a “good” set of parameters in order to simplify the equations. Then, in an attempt to extend the principle of the DELTA robot mechanical structure to a six-degree-offreedom parallel robot, we propose a new design called HEXA. Equations for kinematics and dynamics of the HEXA robot are presented and show that it has the same dynamic capabilities as the DELTA robot because, like the DELTA robot, it can be built with light-weight materials and easily modeled. Finally, we discuss optimization of the HEXA robot mechanical structure.

scholarly journals Kinematic Modelling of a Panel Enclosed Mechanism

2021 ◽  
Author(s):  
Aaron Yu
Keyword(s):  
Parallel Robot ◽  
Detection Algorithm ◽  
Degree Of Freedom ◽  
Robot Kinematics ◽  
Kinematic Modeling ◽  
Modeling And Analysis ◽  
Additional Degree ◽  
Kinematic Modelling ◽  
Six Degree Of Freedom ◽  
Variable Geometry Truss

This thesis presents a new method for kinematic modeling and analysis of a six degree-of-freedom parallel robot enclosed by a number of sliding panels, called panel enclosed mechanism. This type of robots has been seen in applications where mechanisms are covered by changeable surfaces, such as aircraft morphing wings made of variable geometry truss manipulators. Based on the traditional parallel robot kinematics, the proposed method is developed to model the motions of a multiple segmented telescopic rigid panels that are attached to the moving branches of the mechanism. Through this modeling and analysis, a collision detection algorithm is proposed to analyze the collisions that could occur between adjacent sliding panels during motion over the workspace of the mechanism. This algorithm will help to design a set of permissible panels used to enclose the mechanism free of collision. A number of cases are simulated to show the effectiveness of the proposed method. In addition, an extra link is added to provide an additional degree-of-freedom. Various search methods are employed to evaluate optimal orientation angles to minimize collisions of adjacent panels. Finally, the effect of increased mobility is analyzed and validated as a potential solution to reduce panel collisions.

Kinematic Synthesis of Manipulators Using a Distributed Optimization Method

1999 ◽  
Vol 121 (4) ◽  
pp. 492-501 ◽  
Author(s):  
F. B. Ouezdou ◽  
S. Re´gnier ◽  
C. Mavroidis
Keyword(s):  
Optimization Problems ◽  
Distributed Optimization ◽  
Optimization Method ◽  
Degree Of Freedom ◽  
New Method ◽  
Kinematic Synthesis ◽  
Dimensional Parameters ◽  
Six Degree Of Freedom ◽  
Joint Limits ◽  
Guidance Problem

In this paper, the rigid body guidance problem of general 6 degree of freedom manipulators is studied. A new method, called Distributed Optimization Method (DOM), is used to determine the dimensional parameters of general manipulators that are able to reach a finite number of given six degree of freedom position and orientation tasks. It is shown that the global multi-variable optimization problem of kinematic synthesis can be solved as a sequence of local, one variable, optimization problems. The new method allows the possibility to include additional criteria in the manipulator kinematic synthesis such as joint limits, range of dimensional parameters, obstacles avoidance, isotropy and number of configurations to reach a specific end-effector task. Two examples are given to illustrate the validity of the method.

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