Criteria based analysis and design of three degree of freedom planar robotic manipulators

2002 ◽  
Author(s):  
F. Gao ◽  
F. Guy ◽  
W.A. Gruver
Keyword(s):  
Robotic Manipulators ◽  
Degree Of Freedom ◽  
Analysis And Design ◽  
Three Degree Of Freedom

Maxwell–Voigt and Maxwell Ladder Models for Multi-Degree-of-Freedom Elastomeric Isolation Systems

2015 ◽  
Vol 137 (2) ◽  
Author(s):  
Sudhir Kaul
Keyword(s):  
Degree Of Freedom ◽  
Isolation System ◽  
Practical Applications ◽  
Geometrical Properties ◽  
Analysis And Design ◽  
Proposed Model ◽  
Elastomeric Isolator ◽  
Isolation Systems ◽  
Three Degree Of Freedom ◽  
Ladder Models

This paper presents a model for an elastomeric isolation system consisting of a three degree-of-freedom (DOF) rigid body assembled to a frame through multiple isolators. Each elastomeric isolator is either represented by a Maxwell–Voigt (MV) model consisting of two Maxwell elements or by a Maxwell ladder (ML) model consisting of three Maxwell elements. The MV models and the ML models are characterized by using experimental data that are collected at multiple excitation frequencies. The characterized models are evaluated and used to simulate the performance of the isolation system. The models developed in this paper are capable of representing frequency-dependent behavior that is exhibited by elastomeric isolators and the overall isolation system. Furthermore, the proposed model is capable of directly associating the behavior of the isolation system with physical and geometrical properties of each isolator. The proposed model is expected to be a useful tool for the analysis and design optimization of elastomeric isolation systems. Most of the isolation systems in practical applications exhibit multiple DOF, this model will be particularly useful in such applications since it does not constrain motion to translation only. This is a shortcoming of the models in the current literature that the proposed model attempts to overcome.

A Global Performance Index for the Kinematic Optimization of Robotic Manipulators

1991 ◽  
Vol 113 (3) ◽  
pp. 220-226 ◽  
Author(s):  
C. Gosselin ◽  
J. Angeles
Keyword(s):  
Condition Number ◽  
Performance Index ◽  
Jacobian Matrix ◽  
Robotic Manipulators ◽  
Degree Of Freedom ◽  
Global Index ◽  
Global Performance ◽  
Three Degree Of Freedom ◽  
Kinematic Optimization

In this paper, a novel performance index for the kinematic optimization of robotic manipulators is presented. The index is based on the condition number of the Jacobian matrix of the manipulator, which is known to be a measure of the amplification of the errors due to the kinematic and static transformations between the joint and Cartesian spaces. Moreover, the index proposed here, termed global conditioning index (CGI), is meant to assess the distribution of the aforementioned condition number over the whole workspace. Furthermore, the concept of a global index is applicable to other local kinematic or dynamic indices. The index introduced here is applied to a simple serial two-link manipulator, to a spherical three-degree-of-freedom serial wrist, and to three-degree-of-freedom parallel planar and spherical manipulators. Results of the optimization of these manipulators, based on the GCI, are included.

Analysis and Design of Manipulators With Decoupled and Configuration-Invariant Inertia Tensors Using Remote Actuation

1992 ◽  
Vol 114 (2) ◽  
pp. 204-212 ◽  
Author(s):  
K. Youcef-Toumi
Keyword(s):  
High Speed ◽  
Dynamic Properties ◽  
Sufficient Conditions ◽  
Kinematic Chain ◽  
Degree Of Freedom ◽  
Direct Drive ◽  
Analysis And Design ◽  
Remote Actuation ◽  
Three Degree Of Freedom ◽  
Necessary And Sufficient

The dynamics of manipulators with diagonal and/or constant inertia tensors are described by simple differential equations. This feature greatly simplifies the control of high speed manipulators. This paper presents design methods, which incorporate selection of arm structure and link inertial properties, to achieve simplified manipulator dynamics. First the concept of remote actuation is described. A model is then developed in order to analyze the effects of remote actuation on the manipulator kinematics and dynamics. The modeling is based on Kane’s partial rates along with a set notation to concisely express the system’s dynamics. Second, necessary and sufficient conditions for achieving such dynamic properties for open and closed kinematic chain linkages are derived. These techniques are then applied in the design of three degree-of-freedom planar manipulator and the three degree-of-freedom spatial M. I. T direct-drive manipulator. The mass distribution conditions for which the arm inertia tensors are diagonal and configuration-invariant are derived. The resultant dynamic equations of these manipulators are shown to be very simple.

On the Determination of the Workspace of Complex Planar Robotic Manipulators

1998 ◽  
Vol 120 (2) ◽  
pp. 269-278 ◽  
Author(s):  
Re´mi Ricard ◽  
Cle´ment M. Gosselin
Keyword(s):  
Robotic Manipulators ◽  
Degree Of Freedom ◽  
New Method ◽  
Three Degree Of Freedom ◽  
Joint Limits

A new method for the determination of the workspace of complex planar robotic manipulators is described in this paper. The method is based on the use of joint limits to obtain equations describing limiting curves. These limiting curves are then segmented at their mutual intersections and validated. The resulting sets of portions of curves form the envelope of the workspace. The algorithm is completely general and can be applied to any three-degree-of-freedom planar manipulator—serial, parallel or hybrid—with or without joint limits. Examples of the application of the method to a serial three-degree-of-freedom manipulator, to a hybrid three-degree-of-freedom manipulator and to a parallel three-degree-of-freedom manipulator are given.

scholarly journals Development of a Compound Speckle Interferometer for Precision Three-Degree-of-Freedom Displacement Measurement

Sensors ◽  
2021 ◽  
Vol 21 (5) ◽  
pp. 1828
Author(s):  
Hung-Lin Hsieh ◽  
Bo-Yen Sun
Keyword(s):  
Speckle Interferometry ◽  
Degree Of Freedom ◽  
Heterodyne Interferometry ◽  
Beam Splitting ◽  
Speckle Interferometer ◽  
Real World Applications ◽  
Three Degree Of Freedom ◽  
Contact Displacement ◽  
Displacement Measurements ◽  
Measurement Capabilities

In this study, a compound speckle interferometer for measuring three-degree-of-freedom (3-DOF) displacement is proposed. The system, which combines heterodyne interferometry, speckle interferometry and beam splitting techniques, can perform precision 3-DOF displacement measurements, while still having the advantages of high resolution and a relatively simple configuration. The incorporation of speckle interferometry allows for non-contact displacement measurements by detecting the phase of the speckle interference pattern formed from the convergence of laser beams on the measured rough surface. Experiments were conducted to verify the measurement capabilities of the system, and the results show that the proposed system has excellent measurement capabilities suitable for future real-world applications.

scholarly journals Analytical Investigation on Torque of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization

2021 ◽  
Vol 11 (15) ◽  
pp. 6872
Author(s):  
Chien-Sheng Liu ◽  
Yi-Hsuan Lin ◽  
Chiu-Nung Yeh
Keyword(s):  
Power Efficiency ◽  
Rotation Angle ◽  
Analytical Investigation ◽  
Degree Of Freedom ◽  
Electromagnetic Actuator ◽  
3D Fem ◽  
Image Stabilization ◽  
Large Rotation ◽  
Spherical Motor ◽  
Three Degree Of Freedom

In keeping with consumers’ preferences for electromagnetic motors of ever smaller power consumption, it is necessary to improve the power efficiency of the electromagnetic motors used in unmanned aerial vehicles and robots without sacrificing their performance. Three-degree-of-freedom (3-DOF) spherical motors have been developed for these applications. Accordingly, this study modifies the 3-DOF spherical motor proposed by Hirata’s group in a previous study (Heya, A.; Hirata, K.; Niguchi, N., Dynamic modeling and control of three-degree-of-freedom electromagnetic actuator for image stabilization, IEEE Transactions on Magnetics 2018, 54, 8207905.) to accomplish a 3-DOF spherical motor for camera module with higher torque output in the large rotation angle. The main contribution of this study is to improve the static torque in the X- and Y-axes with an improved electromagnetic structure and a particular controlling strategy. In the structural design, eight symmetrical coils with specific coil combination are used instead of conventional four symmetrical coils. In this study, the development of the proposed 3-DOF spherical motor was constructed and verified by using a 3D finite-element method (3D FEM). The simulation results show that the proposed 3-DOF spherical motor has higher torque output in the large rotation angle when compared to the original 3-DOF spherical motor.

Three-Degree-of-Freedom Parallel Robot Arm

2006 ◽  
Author(s):  
Martin Hosek ◽  
Michael Valasek ◽  
Jairo Moura
Keyword(s):  
Parallel Robot ◽  
Degree Of Freedom ◽  
Motion Path ◽  
Angular Orientation ◽  
Robot Arm ◽  
Flat Panel Display ◽  
End Effector ◽  
Cluster Tools ◽  
Manufacturing Applications ◽  
Three Degree Of Freedom

This paper presents single- and dual-end-effector configurations of a planar three-degree of freedom parallel robot arm designed for automated pick-place operations in vacuum cluster tools for semiconductor and flat-panel-display manufacturing applications. The basic single end-effector configuration of the arm consists of a pivoting base platform, two elbow platforms and a wrist platform, which are connected through two symmetric pairs of parallelogram mechanisms. The wrist platform carries an end-effector, the position and angular orientation of which can be controlled independently by three motors located at the base of the robot. The joints and links of the mechanism are arranged in a unique geometric configuration which provides a sufficient range of motion for typical vacuum cluster tools. The geometric properties of the mechanism are further optimized for a given motion path of the robot. In addition to the basic symmetric single end-effector configuration, an asymmetric costeffective version of the mechanism is derived, and two dual-end-effector alternatives for improved throughput performance are described. In contrast to prior attempts to control angular orientation of the end-effector(s) of the conventional arms employed currently in vacuum cluster tools, all of the motors that drive the arm can be located at the stationary base of the robot with no need for joint actuators carried by the arm or complicated belt arrangements running through the arm. As a result, the motors do not contribute to the mass and inertia properties of the moving parts of the arm, no power and signal wires through the arm are necessary, the reliability and maintenance aspects of operation are improved, and the level of undesirable particle generation is reduced. This is particularly beneficial for high-throughput applications in vacuum and particlesensitive environments.

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