Topology Synthesis of a 1-Translational and 3-Rotational Parallel Manipulator With an Articulated Traveling Plate

2015 ◽  
Vol 7 (3) ◽  
Author(s):  
Tao Sun ◽  
Yimin Song ◽  
Hao Gao ◽  
Yang Qi
Keyword(s):  
Rigid Body ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Large Scale ◽  
Open Loop ◽  
Synthesis Procedure ◽  
The Relationship

Driven by the increasing demands of the aircraft assemblage for the pose-adjustment equipment in the large-scale component docking, this paper carries out the topology synthesis of a 1-translational and 3-rotational (1T3R) four degrees of freedom (DoF) parallel manipulator with an articulated traveling plate. First, the articulated traveling plate is defined as that includes more than one rigid body articulated by one or more kinematic joints. Then, the relationship among the DoFs of the parallel manipulator and the articulated traveling plate and the number of the in-parts are proposed. According to the agreement of the arrangement way between the open-loop limbs and the in-parts, the topology synthesis procedure of the 1T3R 4-DoF parallel manipulator with an articulated traveling plate is proposed. Finally, their topology structures are obtained by discussing those of four types in terms of 1D-H, 1D-V type with opposite layout and 1D-H, 1D-V type with adjacent layout, in which the topology structures exist only for 1D-H and 1D-V type with opposite layout

Workspace Augmentation for the Large-Scale Spherical Honeycombs Perfusion Using a Novel 5DOF Reconfigurable Manipulator

2020 ◽  
Vol 12 (6) ◽  
Author(s):  
Hui Yang ◽  
Hairong Fang ◽  
Xiangyun Li ◽  
Yuefa Fang
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Large Scale ◽  
Singularity Analysis ◽  
Structural Components ◽  
Reachable Workspace ◽  
Large Movement ◽  
Moving Platform ◽  
Complex Structural ◽  
Limit Position

Abstract The volume of workspace is a significant kinematic index of parallel manipulator in some applications of engineering. However, the workspace degradation of the manipulator in extreme position is a demanding issue, which results in a fact that such manipulators cannot satisfy the machining requirement of the maximum limit position for the large-scale complex structural components. In this paper, a novel five degrees-of-freedom (DOF) 5PRR+5PUS-PRPU parallel manipulator (PM) is presented. First, the mobility analysis for the proposed manipulator is carried out, and the inverse kinematics as well as the Jacobian matrix is developed. Then, the workspace of the 5PRR+5PUS-PRPU PM and the 5PUS-PRPU PM is analyzed to study the workspace augmentation of the proposed PM. The workspace comparisons of these two PMs prove that the proposed PM not only can realize the large movement of the moving platform along the z-axis, but also possess larger workspace than the 5PUS-PRPU PM when the moving platform has a large movement along the z-axis. Furthermore, the singularity analysis is also conducted to show the singularity-free workspace of the proposed PM. By the introduction of the reconfigurable 5PRR PM, the proposed manipulator effectively augments the reachable workspace of the moving platform along the z-axis and to some extent also solves the issue of workspace degradation of the PM along z-axis.

scholarly journals Kinematics Performance and Dynamics Analysis of a Novel Parallel Perfusion Manipulator with Passive Link

2018 ◽  
Vol 2018 ◽  
pp. 1-18 ◽  
Author(s):  
Hui Yang ◽  
Hairong Fang ◽  
Yuefa Fang ◽  
Haibo Qu
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Thermal Protection ◽  
Virtual Work ◽  
Kinematics And Dynamics ◽  
Main Body ◽  
Perfusion System ◽  
Dynamics Models ◽  
The Relationship

In order to solve the problem of the honeycombs perfusion in the thermal protection system of the spacecraft, this paper presents a novel parallel perfusion manipulator with one translational and two rotational (1T2R) degrees of freedom (DOFs), which can be used to construct a 5-DOF hybrid perfusion system for the perfusion of the honeycombs. The proposed 3PSS&PU parallel perfusion manipulator is mainly utilized as the main body of the hybrid perfusion system. The inverse kinematics and the Jacobian matrix of the proposed parallel manipulator are obtained. The analysis of kinematics performance for the proposed parallel manipulator including workspace, singularity, dexterity, and stiffness is conducted. Based on the virtual work principle and the link Jacobian matrix, the dynamic model of the parallel perfusion manipulator is carried out. With reference to dynamic equations, the relationship between the driving force and the mechanism parameters can be derived. In order to verify the correctness of the kinematics and dynamics model, the comparison of theoretical and simulation curves of the motion parameters related to the driving sliders is performed. Corresponding analyses illustrate that the proposed parallel perfusion possesses good kinematics performance and could satisfy the perfusion requirements of the honeycombs. The correctness of the established kinematics and dynamics models is proved, which has great significance for the experimental research of the perfusion system.

Chrono: A Parallel Physics Library for Rigid-Body, Flexible-Body, and Fluid Dynamics

2013 ◽  
Author(s):  
Toby Heyn ◽  
Hammad Mazhar ◽  
Arman Pazouki ◽  
Daniel Melanz ◽  
Andrew Seidl ◽  
...  
Keyword(s):  
Parallel Computing ◽  
Rigid Body ◽  
Degrees Of Freedom ◽  
Large Scale ◽  
Gpu Computing ◽  
Rigid Bodies ◽  
Flexible Body ◽  
Simulation Engine ◽  
Physics Simulation ◽  
Flexible Body Dynamics

This contribution discusses a multi-physics simulation engine, called Chrono, that relies heavily on parallel computing. Chrono aims at simulating the dynamics of systems containing rigid bodies, flexible (compliant) bodies, and fluid-rigid body interaction. To this end, it relies on five modules: equation formulation (modeling), equation solution (simulation), collision detection support, domain decomposition for parallel computing, and post-processing analysis with emphasis on high quality rendering/visualization. For each component we point out how parallel CPU and/or GPU computing have been leveraged to allow for the simulation of applications with millions of degrees of freedom such as rover dynamics on granular terrain, fluid-structure interaction problems, or large-scale flexible body dynamics with friction and contact for applications in polymer analysis.

Force transmission and constraint analysis of a 3-SPR parallel manipulator

2017 ◽  
Vol 232 (23) ◽  
pp. 4399-4409 ◽  
Author(s):  
Matteo Russo ◽  
Marco Ceccarelli ◽  
Yukio Takeda
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Single Point ◽  
Open Loop ◽  
Mobile Platform ◽  
Force Transmission ◽  
Singularity Problem ◽  
Kinematic Chains ◽  
Advantages And Disadvantages ◽  
Transmission Index

This paper presents an analysis of a novel 3-SPR parallel manipulator with 3 degrees-of-freedom that is characterized by a mobile platform consisting of a single point where all the three open-loop kinematic chains converge. The constraint singularity problem of the mechanism is solved in closed form by computing the Jacobian of the manipulator. Then, the expression of the transmission index is obtained for the 3-SPR manipulator by using the pressure angle definition. In order to evaluate the influence of secondary parameters, an equivalent 6-SPS mechanism is analyzed and its transmission index is computed in the parameter space. Finally, the proposed manipulator is compared to a standard 3-SPR parallel mechanism to investigate the influence of the mobile platform radius over transmission index and workspace volume. The results are discussed in order to highlight the advantages and disadvantages of the proposed structure of parallel manipulator.

Mobility analysis and kinematic synthesis of a novel 4-DoF parallel manipulator

Robotica ◽  
2014 ◽  
Vol 34 (5) ◽  
pp. 1010-1025 ◽  
Author(s):  
Gang Dong ◽  
Tao Sun ◽  
Yimin Song ◽  
Hao Gao ◽  
Binbin Lian
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Large Scale ◽  
Screw Theory ◽  
Programming Approach ◽  
The Novel ◽  
Dimensional Synthesis ◽  
Vector Method ◽  
Dimensional Parameters ◽  
Design And Manufacture

SUMMARYThis paper proposes a novel parallel manipulator with 1 translational and 3 rotational degrees of freedom, which may be designed as the docking equipment for large-scale component assemblage in the aircraft industry. First, the mobility and kinematic analysis of the novel manipulator is performed using the screw theory and the closed-loop vector method. To evaluate the kinematic performance of the manipulator, its workspace is calculated, and the dimensional homogeneous Jacobian matrix of this manipulator is deduced. Mainly based on a nonlinear programming approach, the kinematic dimensional synthesis is performed to optimise the dimensional parameters of this novel parallel manipulator in a prescribed workspace. The results of this paper may lay a solid foundation for the prototype design and manufacture of the novel parallel manipulator.

Joint Rotation Space, Workspace, and Singularity-Free Workspace of Parallel Five-Bar Manipulators

2000 ◽  
Author(s):  
Kwun-Lon Ting ◽  
Yi Zhang
Keyword(s):  
Trajectory Planning ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Parallel Manipulators ◽  
Extensive Study ◽  
Open Loop ◽  
Joint Rotation ◽  
One To One ◽  
The One

Abstract Closed-loop manipulators, while offering some advantages over the open-loop manipulators, also introduce new topics of study such as their joint rotation space (JRS) and workspace. In the previous studies, the concept of JRS was very effective in the study of the allowable inputs of five-bar linkages[11], and the concepts of sheet and side[7] were later introduced for the purpose of clearly describing all of the joint rotation spaces associated to a parallel manipulator with two degrees of freedom. However, of the two types of singularity of parallel manipulators, only the uncertainty singularity was considered in the aforementioned studies. The stationarity singularity was not indicated in the JRS of the manipulators, which would not be sufficient in the design and trajectory planning of parallel manipulators where the one-to-one correspondence between the JRS and the wrist point workspace would be required. This paper reports an extensive study on the JRS and singularity-free workspace of the parallel five-bar manipulators. The objective of the study is to establish a one-to-one corresponding relationship between the JRS and singularity-free workspace. A concise and sufficient way is proposed to thoroughly recognize the JRS and workspace of the parallel five-bar manipulators. The result can be applied in the design and trajectory planning of parallel five-bar manipulators, and the concepts can be extended to other parallel manipulators.

Lagrangian Formulation of the Equations of Motion for Elastic Mechanisms With Mutual Dependence Between Rigid Body and Elastic Motions: Part I—Element Level Equations

1990 ◽  
Vol 112 (2) ◽  
pp. 203-214 ◽  
Author(s):  
S. Nagarajan ◽  
David A. Turcic
Keyword(s):  
Rigid Body ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Nonlinear Differential Equations ◽  
Equations Of Motion ◽  
Realistic Model ◽  
Open Loop ◽  
Rigid Body Motion ◽  
Body Motion ◽  
Elastic Links

Equations of motion are derived using Lagrange’s equation for elastic mechanism systems. The elastic links are modeled using the finite element method. Both rigid body degrees of freedom and the elastic degrees of freedom are considered as generalized coordinates in the derivation. Previous work in the area of analysis of general elastic mechanisms usually involve the assumption that the rigid body motion or the nominal motion of the system is unaffected by the elastic motion. The nonlinear differential equations of motion derived in this work do not make this assumption and thus allow for the rigid body motion and the elastic motion to influence each other. Also the equations obtained are in closed form for the entire mechanism system, in terms of a minimum number of variables, which are the rigid body and the elastic degrees of freedom. These equations represent a more realistic model of light-weight high-speed mechanisms, having closed and open loop multi degree of freedom chains, and geometrically complex elastic links.

Relationship between total plasma homocysteine and the risk of aneurysms – a meta-analysis

VASA ◽  
2020 ◽  
pp. 1-6
Author(s):  
Hanji Zhang ◽  
Dexin Yin ◽  
Yue Zhao ◽  
Yezhou Li ◽  
Dejiang Yao ◽  
...  
Keyword(s):  
Large Scale ◽  
Meta Analysis ◽  
Single Species ◽  
Total Plasma ◽  
Control Groups ◽  
Randomized Controlled ◽  
Randomized Controlled Studies ◽  
The Difference ◽  
The Relationship ◽  
Healthy Participants

Summary: Our meta-analysis focused on the relationship between homocysteine (Hcy) level and the incidence of aneurysms and looked at the relationship between smoking, hypertension and aneurysms. A systematic literature search of Pubmed, Web of Science, and Embase databases (up to March 31, 2020) resulted in the identification of 19 studies, including 2,629 aneurysm patients and 6,497 healthy participants. Combined analysis of the included studies showed that number of smoking, hypertension and hyperhomocysteinemia (HHcy) in aneurysm patients was higher than that in the control groups, and the total plasma Hcy level in aneurysm patients was also higher. These findings suggest that smoking, hypertension and HHcy may be risk factors for the development and progression of aneurysms. Although the heterogeneity of meta-analysis was significant, it was found that the heterogeneity might come from the difference between race and disease species through subgroup analysis. Large-scale randomized controlled studies of single species and single disease species are needed in the future to supplement the accuracy of the results.

New ''Cold War''

2020 ◽  
pp. 27-34
Author(s):  
Vladimir Batiuk
Keyword(s):  
Cold War ◽  
Nuclear Weapons ◽  
Armed Conflict ◽  
Large Scale ◽  
Arms Race ◽  
Ideological Struggle ◽  
Nuclear Arms Race ◽  
The Cold War ◽  
The Relationship ◽  
Nuclear Arms

In this article, the ''Cold War'' is understood as a situation where the relationship between the leading States is determined by ideological confrontation and, at the same time, the presence of nuclear weapons precludes the development of this confrontation into a large-scale armed conflict. Such a situation has developed in the years 1945–1989, during the first Cold War. We see that something similar is repeated in our time-with all the new nuances in the ideological struggle and in the nuclear arms race.

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