Kinematic Analysis of a Novel Kinematically Redundant Spherical Parallel Manipulator

2018 ◽  
Vol 10 (2) ◽  
Author(s):  
Jérôme Landuré ◽  
Clément Gosselin
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Parallel Robot ◽  
Point Of View ◽  
Design Parameters ◽  
Redundant Robot ◽  
Jacobian Matrices ◽  
Geometric Point ◽  
Singularity Locus ◽  
Spherical Parallel Manipulator

This paper introduces a new architecture of spherical parallel robot which significantly extends the workspace when compared to existing architectures. To this end, the singularity locus is studied and the design parameters are chosen so as to confine the singularities to areas already limited by other constraints such as mechanical interferences. First, the architecture of the spherical redundant robot is presented and the Jacobian matrices are derived. Afterwards, the analysis of the singularities is addressed from a geometric point of view, which yields a description of the singularity locus expressed as a function of the architectural parameters. Then, the results are applied to an example set of architectural parameters, which are chosen in order to illustrate the advantages of the redundant architecture over current designs in terms of workspace.

Optimization of the Singularity Locus of a Novel Kinematically Redundant Spherical Parallel Manipulator

2017 ◽  
Author(s):  
Jérôme Landuré ◽  
Clément Gosselin
Keyword(s):  
Parallel Manipulator ◽  
Parallel Robot ◽  
Point Of View ◽  
Design Parameters ◽  
Redundant Robot ◽  
Jacobian Matrices ◽  
Geometric Point ◽  
Singularity Locus ◽  
Spherical Parallel Manipulator

This article introduces a new architecture of spherical parallel robot which significantly extends the workspace when compared to existing architectures. To this end, the singularity locus is studied and the design parameters are chosen so as to confine the singularities to areas already limited by other constraints such as mechanical interferences. First, the architecture of the spherical redundant robot is presented and the Jacobian matrices are derived. Afterwards, the analysis of the singularities is addressed from a geometric point of view, which yields a description of the singularity locus expressed as a function of the architectural parameters. Then, the results are applied to an example set of architectural parameters chosen in order to illustrate the advantages of the redundant architecture over current designs in terms of workspace.

scholarly journals Kinematic Analysis Of Tricept Parallel Manipulator

2012 ◽  
Vol 12 (5) ◽  
Author(s):  
Mir Amin Hosseini ◽  
Hamid-Reza Mohammadi Daniali
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Geometric Constraints ◽  
Design Parameters ◽  
Forward Kinematics ◽  
Jacobian Matrices ◽  
Moving Platforms ◽  
Workspace Optimization

Parallel manipulators consist of fixed and moving platforms connected to each other with some actuated links. They have some significant advantages over their serial counterparts. While, they suffer from relatively small workspaces, complex kinematics relations and highly singular points within their workspaces. In this paper, forward kinematics of Tricept parallel manipulator is solved analytically and its workspace optimization is performed. This parallel manipulator has a complex degree of freedom, therefore leads to dimensional in-homogeneous Jacobian matrices. Thus, we divide some entries of the Jacobian by units of length, thereby producing a new Jacobian that is dimensionally homogeneous. Moreover, its workspace is parameterized using some design parameters. Then, using GA method, the workspace is optimized subjects to some geometric constraints. Finally, dexterity of the design is evaluated. Keywords- Kinematic, Workspace, Singularity, TriceptABSTRAK - Manipulator selari terdiri daripada platform tetap dan bergerak yang bersambung antara satu sama lain dengan beberapa pautan bergerak. Manipulator selari mempunyai beberapa kebaikan tertentu dibandingkan dengan yang bersamaan dengannya. Walaupun ia mempunyai ruang kerja yang sempit, hubungan kinematik kompleks dan titik tunggal tinggi dalam linkungan ruang kerjanya. Dalam kajian ini, kinematik ke hadapan manipulator selari Tricept diselesaikan secara analisa dan pengoptimuman ruang kerja dijalankan. Manipulator selari ini mempunyai darjah kebebasan yang kompleks, yang menyebabkan ia mendorong kepada kehomogenan dimensi matriks Jacobian. Catatan Jacobian dibahagikan kepada unit panjang, dimana ia menghasilkan Jacobian baru yang homogen dimensinya. Tambahan, ruang kerjanya diparameterkan dengan menggunakan beberapa parameter reka bentuk. Kemudian, dengan kaedah GA, ruang kerja mengoptimakan subjek kepada beberapa kekangan geometrik. Akhirnya, kecakatan reka bentuk dinilaikan.Keywords- Kinematic, Workspace, Singularity, Tricept

Optimal design of a redundant spherical parallel manipulator

Robotica ◽  
1997 ◽  
Vol 15 (4) ◽  
pp. 399-405 ◽  
Author(s):  
Sylvie Leguay-Durand ◽  
Claude Reboulet
Keyword(s):  
Optimal Design ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Structure Optimization ◽  
Kinematic Design ◽  
Spherical Wrist ◽  
Redundant Structure ◽  
Spherical Parallel Manipulator

A new kinematic design of a parallel spherical wrist with actuator redundancy is presented. A special feature of this parallel manipulator is the arrangement of co-axial actuators which allows unlimited rotation about any axis inside a cone-shaped workspace. A detailed kinematic analysis has shown that actuator redundancy not only removes singularities but also increases workspace while improving dexterity. The structure optimization has been performed with a global dexterity criterion. Using a conditioning measure, a comparison with a non-redundant structure of the same type was performed and shows that a significant improvement in dexterity has been obtained.

A new family of spherical parallel manipulators

Robotica ◽  
2002 ◽  
Vol 20 (4) ◽  
pp. 353-358 ◽  
Author(s):  
Raffaele Di Gregorio
Keyword(s):  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
End Effector ◽  
Singular Configurations ◽  
New Family ◽  
Geometric Conditions ◽  
Singularity Locus ◽  
The Given ◽  
Spherical Parallel Manipulator ◽  
Spherical Motion

In the literature, 3-RRPRR architectures were proposed to obtain pure translation manipulators. Moreover, the geometric conditions, which 3-RRPRR architectures must match, in order to make the end-effector (platform) perform infinitesimal (elementary) spherical motion were enunciated. The ability to perform elementary spherical motion is a necessary but not sufficient condition to conclude that the platform is bound to accomplish finite spherical motion, i.e. that the mechanism is a spherical parallel manipulator (parallel wrist). This paper demonstrates that the 3-RRPRR architectures matching the geometric conditions for elementary spherical motion make the platform accomplish finite spherical motion, i.e. they are parallel wrists (3-RRPRR wrist), provided that some singular configurations, named translation singularities, are not reached. Moreover, it shows that 3-RRPRR wrists belong to a family of parallel wrists which share the same analytic expression of the constraints which the legs impose on the platform. Finally, the condition that identifies all the translation singularities of the mechanisms of this family is found and geometrically interpreted. The result of this analysis is that the translation singularity locus can be represented by a surface (singularity surface) in the configuration space of the mechanism. Singularity surfaces drawn by exploiting the given condition are useful tools in designing these wrists.

Multi-Objective Optimization of a 2-DoF Purely Translational Parallel Manipulator

2011 ◽  
Vol 317-319 ◽  
pp. 794-798
Author(s):  
Zhi Bin Li ◽  
Yun Jiang Lou ◽  
Yong Sheng Zhang ◽  
Ze Xiang Li
Keyword(s):  
Genetic Algorithm ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Pareto Front ◽  
Parallel Robot ◽  
Objective Functions ◽  
Multi Objective Optimization ◽  
Multi Objective ◽  
Evolution Algorithm

The paper addresses the multi-objective optimization of a 2-DoF purely translational parallel manipulator. The kinematic analysis of the Proposed T2 parallel robot is introduced briefly. The objective functions are optimized simultaneously to improve Regular workspace Share (RWS) and Global Conditioning Index (GCI). A Multi-Objective Evolution Algorithm (MOEA) based on the Control Elitist Non-dominated Sorting Genetic Algorithm (controlled ENSGA-II) is used to find the Pareto front. The optimization results show that this method is efficient. The parallel manipulator prototype is also exhibited here.

Design and kinematic analysis of a new 3-DOF spherical parallel manipulator for a prosthetic wrist

2019 ◽  
Vol 42 (1) ◽  
Author(s):  
José-Alfredo Leal-Naranjo ◽  
Mingfeng Wang ◽  
Juan-Carlos Paredes-Rojas ◽  
Horacio Rostro-Gonzalez
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Spherical Parallel Manipulator

The 3-RRS Wrist: A New, Simple and Non-Overconstrained Spherical Parallel Manipulator

2004 ◽  
Vol 126 (5) ◽  
pp. 850-855 ◽  
Author(s):  
Raffaele Di Gregorio
Keyword(s):  
Rigid Body ◽  
Explicit Form ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Parallel Architectures ◽  
Geometric Reasoning ◽  
End Effector ◽  
Manipulation Task ◽  
Spherical Parallel Manipulator

Orientating a rigid body without changing its position is required in many technical applications. This manipulation task is accomplished by manipulators (spherical manipulators) that are just able to make the end effector move according to controlled spherical motions. Spherical manipulators can be either serial or parallel. Parallel architectures are usually more stiff and precise than the serial ones, whereas their structures are more complex than the serial ones. This paper presents a new three-equal-legged spherical parallel manipulator, named the 3-RRS wrist. The 3-RRS wrist is not overconstrained and exhibits a simple architecture employing just three passive revolute pairs, three passive spherical pairs and three actuated revolute pairs adjacent to the frame. The kinematic analysis of the 3-RRS wrist is addressed and fully solved. Finally, its singularity conditions are written in explicit form and discussed. The results of this analysis lead to the conclusion that the new manipulator has only two types of singularities both easy to be identified with geometric reasoning.

Singularity Analysis of 2-DOF Parallel Manipulator

2012 ◽  
Vol 569 ◽  
pp. 589-592
Author(s):  
Jong Gyu Lee ◽  
Sang Ryong Lee ◽  
Choon Young Lee ◽  
Seung Han Yang
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Strong Influence ◽  
Orientation Angle ◽  
Singularity Analysis ◽  
End Effector ◽  
Jacobian Matrices ◽  
Singular Configurations ◽  
Workspace Boundary

The end-effector of 2-DOF parallel manipulator has an orientation. Jacobian matrices are obtained by kinematic analysis. The singular configurations of the manipulator are found using these matrices and the certain characteristic of these configurations is investigated. With the result from simulation, we found that these configurations happened to workspace-interior as well as workspace-boundary and the orientation angle of the end-effector exerted a strong influence on the singularity of the manipulator.

Design and Kinematic Analysis of Parallel Robot for Ankle Rehabilitation

2013 ◽  
Vol 446-447 ◽  
pp. 1279-1284 ◽  
Author(s):  
Muhammad Nazrin Shah Bin Shahrol Aman ◽  
Shafriza Nisha Bin Basah
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Weight Ratio ◽  
Parallel Robot ◽  
Ankle Injury ◽  
Design Parameters ◽  
Concept Generation ◽  
Embodiment Design ◽  
Ankle Rehabilitation ◽  
Rehabilitation Exercises

Ankle injury is one of the most common injuries in sports or domestic related accidents. This injury can usually be treated via a number of rehabilitation exercises. However, currently rehabilitation of ankle injury directly depends of physiotherapy session administered by experts; which is tedious and expensive in nature. In this paper, we proposed a concept based on parallel mechanism to assist patients undergoing ankle rehabilitation procedures. This is due to a number of advantages of parallel mechanism as compared to serial mechanism higher payload-to-weight ratio, structure rigidity, accuracy and relatively simple solution. We reported our design process; including the concept generation and selection according to a number of relevant design parameters. After which, followed by embodiment design involving kinematic analysis of the proposed mechanism. The findings, in terms of conceptual design and kinematic analysis should be able to provide an insight for ankle rehabilitation based on suitable parallel mechanism.

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