Direct Kinematic Analysis of the Spatial Parallel Mechanism with 3-R(P)S Structure Based on the Point Pair Relationship

2021 ◽  
pp. 1-23
Author(s):  
Ganmin Zhu ◽  
Shimin Wei ◽  
Ying Zhang ◽  
Qizheng Liao
Keyword(s):  
Kinematic Analysis ◽  
Geometric Modeling ◽  
Parallel Mechanism ◽  
Computational Method ◽  
Parallel Mechanisms ◽  
Point Pair ◽  
Spatial Parallel Mechanism ◽  
The Family ◽  
Distance Relationship ◽  
The Relationship

Abstract This paper demonstrates a novel geometric modeling and computational method of the family of spatial parallel mechanisms with 3-R(P)S structure for direct kinematic analysis based on the point pair relationship. The point pair relationship, which is derived from the framework of conformal geometric algebra (CGA), consists of the relationship between the point and the point pair and two point pairs. The first research is on the distance relationship between the point and the point pair. Secondly, the derivation of the distance relationship between two point pairs is based on the aforementioned result, which shows the mathematical homogeneity. Thirdly, two formulations for a point of the point pairs that satisfy the distance relationship between two point pairs are reduced. Fourthly, the point pair relationship is applied to solve the direct kinematic analysis of the spatial parallel mechanism with 3-R(P)S structure. Finally, four numerical examples are provided to verify the validity of the proposed algorithm. Overall, the proposed method can be generalized for the direct kinematics of a series of spatial parallel mechanisms with 3-R(P)S structure.

scholarly journals Dynamic response analysis for multi-degrees-of-freedom parallel mechanisms with various types of three-dimensional clearance joints

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110177
Author(s):  
Jia Yonghao ◽  
Chen Xiulong
Keyword(s):  
Dynamic Response ◽  
Multibody Systems ◽  
Parallel Mechanism ◽  
Three Dimensional ◽  
Response Analysis ◽  
Parallel Mechanisms ◽  
Dynamics Model ◽  
Clearance Joints ◽  
Clearance Joint ◽  
Spatial Parallel Mechanism

For spatial multibody systems, the dynamic equations of multibody systems with compound clearance joints have a high level of nonlinearity. The coupling between different types of clearance joints may lead to abundant dynamic behavior. At present, the dynamic response analysis of the spatial parallel mechanism considering the three-dimensional (3D) compound clearance joint has not been reported. This work proposes a modeling method to investigate the influence of the 3D compound clearance joint on the dynamics characteristics of the spatial parallel mechanism. For this purpose, 3D kinematic models of spherical clearance joint and revolute joint with radial and axial clearances are derived. Contact force is described as normal contact and tangential friction and later introduced into the nonlinear dynamics model, which is established by the Lagrange multiplier technique and Jacobian of constraint matrix. The influences of compound clearance joint and initial misalignment of bearing axes on the system are analyzed. Furthermore, validation of dynamics model is evaluated by ADAMS and Newton–Euler method. This work provides an essential theoretical basis for studying the influences of 3D clearance joints on dynamic responses and nonlinear behavior of parallel mechanisms.

Motion Control of a Hyper Redundant Manipulator Built by Serially Connecting Many Parallel Mechanism Units with a Few DOF

2010 ◽  
Vol 4 (4) ◽  
pp. 364-371 ◽  
Author(s):  
Nobuyuki Iwatsuki ◽  
◽  
Norifumi Nishizaka ◽  
Koichi Morikawa ◽  
Koji Kondoh ◽  
...  
Keyword(s):  
Motion Control ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Weighting Coefficient ◽  
Redundant Manipulator ◽  
Output Displacement ◽  
Spatial Parallel Mechanism ◽  
Inverse Kinematic Analysis ◽  
Forward Kinematic

This paper describes the kinematic analysis and motion control of a hyper redundant robot built by serially connecting many units with a few DOF. Each unit of the manipulator is a spatial parallel mechanism with 3 DOF and is composed of 2 stages connected with 3 linear actuators, 7 spherical joints, and a center rod. The forward kinematic analysis of the manipulator based on the forward kinematics of each unit by numerical calculation was carried out. The inverse kinematic analysis, the iterative calculation so as to converge output error while output displacement is distributed into each unit with weighting coefficient, was proposed and formulated. Motion control of the robot was theoretically and experimentally examined based on the inverse kinematics. It was confirmed that a prototype with 3 units could generate the desired trajectories.

Workspace Analysis of Parallel Manipulator for Telemicromanipulation Systems

2001 ◽  
Vol 13 (5) ◽  
pp. 488-496 ◽  
Author(s):  
Noriaki Ando ◽  
◽  
Masahiro Ohta ◽  
Kohei Gonda ◽  
Hideki Hashimoto
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Parallel Mechanisms ◽  
Dual Systems ◽  
Position Accuracy ◽  
Control Scheme ◽  
Workspace Analysis ◽  
Manipulator Control ◽  
Vr Simulator

This paper describes the research results on telemicromanipulation systems for microlevel tasks. Because of its better manipulation precision, stiffness and speed characteristics, the parallel mechanism micromanipulator was chosen to compose our systems. First, the kinematic analysis of our original manipulator mechanism is performed. Then, the structure of our parallel manipulator, control scheme, and experimental results are shown. Position accuracy and device control characteristics are analyzed and the feasibility of the use of parallel mechanisms for micromanipulator is then discussed. A parallel manipulator motion is restricted by 3 factors: mechanical limits of the passive joints, collision between links and actuators limitations. Results of the numerical workspace analysis considering the above factors are shown. We are proposing the use of dual manipulators for implementing improved real manipulation systems. The first kinematics and workspace analysis of dual systems using the VR simulator are also shown.

Investigations on the principle of full decoupling and type synthesis of 2R1T and 2R parallel mechanisms

2019 ◽  
Vol 43 (2) ◽  
pp. 263-271 ◽  
Author(s):  
Yundou Xu ◽  
Bei Wang ◽  
Zhifeng Wang ◽  
Yun Zhao ◽  
Wenlan Liu ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Rotational Degrees Of Freedom ◽  
The Relationship

Based on the relationship between constraint wrenches and rotational axes, the principle of full decoupling of two rotational degrees of freedom (DOFs) for a two-rotation and one-translation (2R1T) parallel mechanism and two-rotation (2R) parallel mechanism with three supporting branches is systematically analyzed. Two conditions for full decoupling of two rotational DOFs of such mechanisms are obtained. The relationship between the two rotational axes of the parallel mechanisms is classified into two cases: intersecting and different. Next, based on the two conditions, type synthesis of the 2R1T and 2R parallel mechanisms with fully decoupled two rotational DOFs is carried out. A series of novel 2R1T and 2R parallel mechanisms with fully decoupled two rotational DOFs are obtained, such as RPU–UPR–RPR. Several of these mechanisms contain only eight single-DOF passive joints, one fewer than in existing mechanisms of this type, and thus have broad applications.

The Maximal Singularity-Free Workspace of the Gough–Stewart Platform for a Given Orientation

2008 ◽  
Vol 130 (11) ◽  
Author(s):  
Qimi Jiang ◽  
Clément M. Gosselin
Keyword(s):  
Case Studies ◽  
Parallel Mechanism ◽  
Stewart Platform ◽  
Parallel Robots ◽  
Analytic Method ◽  
Robot Design ◽  
Parallel Mechanisms ◽  
Leg Length ◽  
Maximal Singularity ◽  
The Relationship

The maximal singularity-free workspace of parallel mechanisms is a desirable criterion in robot design. However, for a 6DOF parallel mechanism, it is very difficult to find an analytic method to determine the maximal singularity-free workspace around a prescribed point for a given orientation. Hence, a numerical algorithm is presented in this paper to compute the maximal singularity-free workspace as well as the corresponding leg length ranges of the Gough–Stewart platform. This algorithm is based on the relationship between the maximal singularity-free workspace and the singularity surface. Case studies with different orientations are performed to demonstrate the presented algorithm. The obtained results can be applied to the geometric design or parameter (leg length) setup of this type of parallel robots.

Computation of the Maximal Singularity-Free Workspace of the MSSM for a Given Orientation

2007 ◽  
Author(s):  
Qimi Jiang ◽  
Cle´ment M. Gosselin
Keyword(s):  
Case Studies ◽  
Numerical Algorithm ◽  
Parallel Mechanism ◽  
Parallel Robots ◽  
Analytic Method ◽  
Robot Design ◽  
Parallel Mechanisms ◽  
Leg Length ◽  
Maximal Singularity ◽  
The Relationship

The maximal singularity-free workspace of parallel mechanisms is a desirable criterion in robot design. However, for a 6-dof parallel mechanism, it is very difficult to find an analytic method to determine the maximal singularity-free workspace around a prescribed point for a given orientation. Hence, a numerical algorithm is presented in this paper to compute the maximal singularity-free workspace as well as the corresponding leg length ranges of the MSSM Gough-Stewart platform. This algorithm is based on the relationship between the maximal singularity-free workspace and the singularity surface. Case studies with different orientations are performed to demonstrate the presented algorithm. The results obtained can be applied to the geometric design or parameter (leg length) setup of the MSSM parallel robots.

Design and Kinematic Analysis of Two Novel 1-Translation and 2-Rotation Parallel Mechanism

2010 ◽  
Vol 33 ◽  
pp. 513-517
Author(s):  
Xiu Qin Huang ◽  
Hui Ping Shen ◽  
Xiu Mei Xin
Keyword(s):  
Structural Design ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Analytic Solutions ◽  
The Novel ◽  
Parallel Mechanisms ◽  
Input And Output ◽  
Pros And Cons ◽  
Solid Foundation ◽  
Input Variables

The two novel 1-translation and 2-rotation parallel mechanisms are investigated. An analytic solutions corresponding to the forward and inverse position are obtained. The influences by the three input variables on the three output variables are analyzed carefully and the valid working ranges of input and output variables are given. The pros and cons are addressed by comparing with the two parallel mechanisms, and the optimal one of the two mechanisms is produced.The work of the paper provided a solid foundation for mechanical structural design and real-time controlling of the novel parallel mechanism.

scholarly journals Research for a novel class of translational spatial multi-loop coupled mechanisms: Type synthesis and kinematic analysis

2018 ◽  
Vol 10 (8) ◽  
pp. 168781401879702 ◽  
Author(s):  
Shuang Zhang ◽  
Jingfang Liu ◽  
Huafeng Ding
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Synthesis Method ◽  
Future Application ◽  
The Novel ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Split Method ◽  
New Synthesis ◽  
The Family

A novel type synthesis method for a class of spatial multi-loop coupled mechanisms with translational degrees of freedom is proposed in the paper. The novel class of spatial multi-loop coupled mechanisms has a stable topology layout which consists of three branches and three coupled chains. The basic idea of the new structural synthesis method lies at replacing the inputs of one mechanism by the outputs of another, thereby combining several mechanisms, where the topology split method for the topological layout and corresponding degree of freedom splitting principle are provided. The synthesis of the target mechanism is transformed into synthesis of corresponding serial and parallel mechanisms thereby, and a class of spatial multi-loop coupled mechanisms is synthesized. To validate the new synthesis method and to present a theoretical basis for future application, kinematic analysis of a single translational mobility (1T) spatial multi-loop coupled mechanism and a symmetrical two translational degrees of freedom (2T) spatial multi-loop coupled mechanism is performed. This article enriches the family of the spatial mechanisms for further instructing the study of spatial multi-loop coupled mechanisms.

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