A Class of Hybrid-Chain Manipulators Based on Kinematically Simple Branches

1992 ◽  
Author(s):  
Ron P. Podhorodeski ◽  
Kenneth H. Pittens
Keyword(s):  
Hybrid Structure ◽  
Chain Structure ◽  
Hybrid Structures ◽  
End Effector ◽  
Forward Displacement ◽  
Serial Chain ◽  
Hybrid Manipulator ◽  
Order Polynomial ◽  
Six Dof ◽  
Specific Hybrid

Abstract Hybrid-chain manipulators consisting of serial branches acting in parallel on a common end effector are examined. All non-redundant, six DOF hybrid manipulator structures are enumerated and a specific hybrid-chain structure is chosen as most promising based upon performance considerations. A class of kinematically simple (KS) serial-chain branches suitable for the chosen hybrid structure is defined. Arguments based upon kinematic equivalency of the branches and mobility of the assembled hybrid chain are used to show that there exist only five unique branch structures belonging to the KS class. It is demonstrated that the solution to the inverse displacement problem for hybrid structures based on the KS branches can be expressed in a closed form. Furthermore, the KS based hybrid-chains are shown to belong to a family of manipulator structures whose forward displacement solutions can be resolved through roots of a 16th order polynomial.

A Class of Parallel Manipulators Based on Kinematically Simple Branches

1994 ◽  
Vol 116 (3) ◽  
pp. 908-914 ◽  
Author(s):  
R. P. Podhorodeski ◽  
K. H. Pittens
Keyword(s):  
Parallel Manipulators ◽  
Parallel Structure ◽  
End Effector ◽  
Forward Displacement ◽  
Parallel Class ◽  
Serial Chain ◽  
Order Polynomial ◽  
Six Dof ◽  
Actuated Joints ◽  
Chain Branch

Parallel manipulators consisting of serial branches acting in parallel on a common end effector are examined. All nonredundant, six DOF manipulators corresponding to this in-parallel class of structures are enumerated. A specific in-parallel structure, three branches with two actuated joints per branch (3–2,2,2), is chosen as most promising based upon performance considerations. A class of kimematically simple (KS) serial-chain branch joint layouts suitable for the chosen in-parallel structure is defined. Arguments based upon kinematic equivalency of the branches and mobility of the assembled in-parallel manipulator chain are used to show that there exist only five unique branch joint-layouts belonging to the KS class. It is demonstrated that the solution to the inverse displacement problem for in-parallel manipulators based on the KS branches can be expressed in a closed form. Furthermore, the 3–2,2,2 in-parallel manipulators are shown to belong to a family of manipulators whose forward displacement solutions can be resolved through roots of a 16th order polynomial.

scholarly journals Hybrid structures applied to ideals in near-rings

2021 ◽  
Author(s):  
B. Elavarasan ◽  
G. Muhiuddin ◽  
K. Porselvi ◽  
Y. B. Jun
Keyword(s):  
Set Theory ◽  
Fuzzy Set ◽  
Real World ◽  
Rough Set Theory ◽  
Wide Spectrum ◽  
Hybrid Structure ◽  
Soft Set ◽  
Hybrid Structures ◽  
Classical Mathematics ◽  
Classical Means

AbstractHuman endeavours span a wide spectrum of activities which includes solving fascinating problems in the realms of engineering, arts, sciences, medical sciences, social sciences, economics and environment. To solve these problems, classical mathematics methods are insufficient. The real-world problems involve many uncertainties making them difficult to solve by classical means. The researchers world over have established new mathematical theories such as fuzzy set theory and rough set theory in order to model the uncertainties that appear in various fields mentioned above. In the recent days, soft set theory has been developed which offers a novel way of solving real world issues as the issue of setting the membership function does not arise. This comes handy in solving numerous problems and many advancements are being made now-a-days. Jun introduced hybrid structure utilizing the ideas of a fuzzy set and a soft set. It is to be noted that hybrid structures are a speculation of soft set and fuzzy set. In the present work, the notion of hybrid ideals of a near-ring is introduced. Significant work has been carried out to investigate a portion of their significant properties. These notions are characterized and their relations are established furthermore. For a hybrid left (resp., right) ideal, different left (resp., right) ideal structures of near-rings are constructed. Efforts have been undertaken to display the relations between the hybrid product and hybrid intersection. Finally, results based on homomorphic hybrid preimage of a hybrid left (resp., right) ideals are proved.

scholarly journals Topological Atomic Chains on 2D Hybrid Structure

Materials ◽  
2021 ◽  
Vol 14 (12) ◽  
pp. 3289
Author(s):  
Tomasz Kwapiński ◽  
Marcin Kurzyna
Keyword(s):  
Tight Binding ◽  
Wide Band ◽  
Hybrid Structure ◽  
Spectral Density Function ◽  
Hybrid Structures ◽  
Function Technique ◽  
Edge States ◽  
Surface Singularities ◽  
Atomic Chains ◽  
Topological States

Mid-gap 1D topological states and their electronic properties on different 2D hybrid structures are investigated using the tight binding Hamiltonian and the Green’s function technique. There are considered straight armchair-edge and zig-zag Su–Schrieffer–Heeger (SSH) chains coupled with real 2D electrodes which density of states (DOS) are characterized by the van Hove singularities. In this work, it is shown that such 2D substrates substantially influence topological states end evoke strong asymmetry in their on-site energetic structures, as well as essential modifications of the spectral density function (local DOS) along the chain. In the presence of the surface singularities the SSH topological state is split, or it is strongly localized and becomes dispersionless (tends to the atomic limit). Additionally, in the vicinity of the surface DOS edges this state is asymmetrical and consists of a wide bulk part together with a sharp localized peak in its local DOS structure. Different zig-zag and armachair-edge configurations of the chain show the spatial asymmetry in the chain local DOS; thus, topological edge states at both chain ends can appear for different energies. These new effects cannot be observed for ideal wide band limit electrodes but they concern 1D topological states coupled with real 2D hybrid structures.

Seven-Position Synthesis of a Spatial Eight-Bar Linkage by Constraining a TRS Serial Chain

2009 ◽  
Author(s):  
Gim Song Soh ◽  
J. Michael McCarthy
Keyword(s):  
Degree Of Freedom ◽  
Upper Arm ◽  
End Effector ◽  
Serial Chain ◽  
Position Synthesis ◽  
Two Degree Of Freedom ◽  
Puma Robot

In this paper, we use seven-position synthesis to add four TS constraints to a TRS serial chain robot and obtain a two degree-of-freedom spatial eight-bar linkage. The TRS chain is an elbow manipulator, similar to a PUMA robot. We synthesize a TS dyad to connect the base of the robot to its forearm, and then we synthesize three TS dyads that connect the upper arm of the robot to its end-effector. The result is a two degree-of-freedom spatial eight-bar linkage that moves through seven prescribed positions. It consists of a TRST loop supporting a 3TS-RS platform, which we denote as a TS-TRS-3TS spatial linkage. We formulate and solve the design equations for the TS dyads, and analyze the resulting eight-bar linkage. An example demonstrates our results.

Experimental Validation of the Kinematics of a 3PRS Compliant Mechanism for Micromilling

2015 ◽  
Author(s):  
Antonio Ruiz ◽  
Francisco Campa Gomez ◽  
Constantino Roldan-Paraponiaris ◽  
Oscar Altuzarra
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Experimental Validation ◽  
Compliant Mechanism ◽  
Motion Controller ◽  
End Effector ◽  
Compliant Joints ◽  
Hybrid Manipulator ◽  
Compliant Parallel Mechanism ◽  
Actuated Joints

The present work deals with the development of a hybrid manipulator of 5 degrees of freedom for milling moulds for microlenses. The manipulator is based on a XY stage under a 3PRS compliant parallel mechanism. The mechanism takes advantage of the compliant joints to achieve higher repetitiveness, smoother motion and a higher bandwidth, due to the high precision demanded from the process, under 0.1 micrometers. This work is focused on the kinematics of the compliant stage of the hybrid manipulator. First, an analysis of the workspace required for the milling of a single mould has been performed, calculating the displacements required in X, Y, Z axis as well as two relative rotations between the tool and the workpiece from a programmed toolpath. Then, the 3PRS compliant parallel mechanism has been designed using FEM with the objective of being stiff enough to support the cutting forces from the micromilling, but flexible enough in the revolution and spherical compliant joints to provide the displacements needed. Finally, a prototype of the 3PRS compliant mechanism has been built, implementing a motion controller to perform translations in Z direction and two rotations. The resulting displacements in the end effector and the actuated joints have been measured and compared with the FEM calculations and with the rigid body kinematics of the 3PRS.

scholarly journals Synthesis of Spatial RPRP Closed Linkages for a Given Screw System

2011 ◽  
Vol 3 (2) ◽  
Author(s):  
Alba Perez-Gracia
Keyword(s):  
Design Method ◽  
Parallel Robots ◽  
Synthesis Problem ◽  
Dimensional Synthesis ◽  
End Effector ◽  
Serial Chain

The dimensional synthesis of spatial chains for a prescribed set of positions can be applied to the design of parallel robots by joining the solutions of each serial chain at the end-effector. This design method does not provide with the knowledge about the trajectory between task positions and, in some cases, may yield a system with negative mobility. These problems can be avoided for some overconstrained but movable linkages if the finite-screw system associated with the motion of the linkage is known. The finite-screw system defining the motion of the robot is generated by a set of screws, which can be related to the set of finite task positions traditionally used in the synthesis theory. The interest of this paper lies in presenting a method to define the whole workspace of the linkage as the input task for the exact dimensional synthesis problem. This method is applied to the spatial RPRP closed linkage, for which one solution exists.

Study of a GaN-Based Light-Emitting Diode with a Specific Hybrid Structure

2021 ◽  
Vol 10 (4) ◽  
pp. 045001
Author(s):  
Wei-Cheng Chen ◽  
Jing-Shiuan Niu ◽  
I-Ping Liu ◽  
Zih-Fong Wang ◽  
Shiou-Ying Cheng ◽  
...  
Keyword(s):  
Light Emitting Diode ◽  
Hybrid Structure ◽  
Light Emitting ◽  
Specific Hybrid

Kinematic Synthesis of Spatial R-R Dyads for Path Following Revisited Using the Rotation Matrix Approach

1999 ◽  
Author(s):  
Venkat Krovi ◽  
G. K. Ananthasuresh ◽  
Vijay Kumar
Keyword(s):  
Linear System ◽  
Path Following ◽  
Rotation Matrix ◽  
Dimensional Synthesis ◽  
Kinematic Synthesis ◽  
End Effector ◽  
Serial Chain ◽  
Systematic Development ◽  
Matrix Vector ◽  
Selection Of

Abstract We revisit the dimensional synthesis of a spatial two-link, two revolute-jointed serial chain for path following applications, focussing on the systematic development of the design equations and their analytic solution for the three precision point synthesis problem. The kinematic design equations are obtained from the equations of loop-closure for end-effector position in rotation-matrix/vector form at the three precision points. These design equations form a rank-deficient linear system in the link-vector components. The nullspace of the rank deficient linear system is then deduced analytically and interpreted geometrically. Tools from linear algebra are applied to systematically create the auxiliary conditions required for synthesis and to verify consistency. An analytic procedure for obtaining the link-vector components is then developed after a suitable selection of free choices. Optimization over the free choices is possible to permit the matching of additional criteria and explored further. Examples of the design of optimal two-link coupled spatial R-R dyads are presented where the end-effector interpolates three positions exactly and closely approximates an entire desired path.

FORCE-UNCONSTRAINED POSES FOR PARALLEL MANIPULATORS WITH REDUNDANT ACTUATED BRANCHES

2005 ◽  
Vol 29 (3) ◽  
pp. 343-356 ◽  
Author(s):  
Flavio Firmani ◽  
Ron P. Podhorodeski
Keyword(s):  
Dimensional Space ◽  
Parallel Manipulators ◽  
End Effector ◽  
Input And Output ◽  
Planar Manipulators ◽  
Order Polynomial ◽  
Prismatic Joints ◽  
Redundantly Actuated ◽  
Actuated Joints ◽  
Planar Parallel Manipulators

A study of the effect of including a redundant actuated branch on the existence of force-unconstrained configurations for a planar parallel layout of joints is presented1. Two methodologies for finding the force-unconstrained poses are described and discussed. The first method involves the differentiation of the nonlinear kinematic constraints of the input and output variables with respect to time. The second method makes use of the reciprocal screws associated with the actuated joints. The force-unconstrained poses of non-redundantly actuated planar parallel manipulators can be mathematically expressed by means of a polynomial in terms of the three variables that define the dimensional space of the planar manipulator, i.e., the location and orientation of the end-effector. The inclusion of redundant actuated branches leads to a system of polynomials, i.e., one additional polynomial for each redundant branch added. Elimination methods are employed to reduce the number of variables by one for every additional polynomial. This leads to a higher order polynomial with fewer variables. The roots of the resulting polynomial describe the force-unconstrained poses of the manipulator. For planar manipulators it is shown that one order of infinity of force-unconstrained configurations is eliminated for every actuated branch, beyond three, added. As an example, the four-branch revolute-prismatic-revolute mechanism (4-RPR), where the prismatic joints are actuated, is presented.

Analytic Geometric Design of Spatial R-R Robot Manipulators

2000 ◽  
Author(s):  
Constantinos Mavroidis ◽  
Munshi Alam ◽  
Eric Lee
Keyword(s):  
Degrees Of Freedom ◽  
Robot Manipulators ◽  
Open Loop ◽  
Geometric Design ◽  
Sixth Order ◽  
Design Parameters ◽  
End Effector ◽  
Revolute Joints ◽  
Order Polynomial ◽  
Spatial Locations

Abstract This paper studies the geometric design of spatial two degrees of freedom, open loop robot manipulators with revolute joints that perform tasks, which require the positioning of the end-effector in three spatial locations. This research is important in situations where a robotic manipulator or mechanism with a small number of joint degrees of freedom is designed to perform higher degree of freedom end-effector tasks. The loop-closure geometric equations provide eighteen design equations in eighteen unknowns. Polynomial Elimination techniques are used to solve these equations and obtain the manipulator Denavit and Hartenberg parameters. A sixth order polynomial is obtained in one of the design parameters. Only two of the six roots of the polynomial are real and they correspond to two different robot manipulators that can reach the desired end-effector poses.

Sign in / Sign up

Export Citation Format

Share Document