Kinematics of a H-Type Pure Translational Parallel Manipulator

2005 ◽  
Author(s):  
Chung-Ching Lee ◽  
Jeng-Hong Chiu ◽  
Hung-Hui Wu
Keyword(s):  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Translational Motion ◽  
Inverse Kinematic ◽  
Closed Form Solutions ◽  
Algebra Approach ◽  
The Matrix ◽  
Six Dof ◽  
Inverse Kinematic Analysis ◽  
Parallel Platform

From the viewpoint of kinematics, a three-dof H-type pure translational parallel manipulator is presented for the development of automatic assembly devices and a regional structure of a six-dof hybrid parallel platform. First, we describe the structural properties of manipulator and analyze its kinematic mobility. A pure translational motion is verified to exist through the well-known D-H symbolic notations and the coordinate transformation technique. What follows are the forward and inverse kinematic analysis and their analytical closed-form solutions by the matrix algebra approach. For further confirmation of the derived equations, some numerical examples are also given. Moreover, with the help of the analytical displacement kinematics, we identify the volume of workspace. At last, taking account of the overall Jacobian matrix provides the condition number and the identification of singularity of configuration is explored based on the direct and inverse kinematics Jacobian matrix.

Kinematics of a Prism-Type Translational Robot

2009 ◽  
Author(s):  
Chung-Ching Lee ◽  
Po-Chih Lee
Keyword(s):  
Inverse Kinematics ◽  
Jacobian Matrix ◽  
Translational Motion ◽  
Parallel Robot ◽  
Kinematics Analysis ◽  
Closed Form Solutions ◽  
Algebra Approach ◽  
The Matrix ◽  
Six Dof ◽  
Parallel Platform

From the viewpoint of kinematics, a three-dof Prism-type pure translational parallel robot is presented for the development of automatic assembly devices and a regional structure of a six-dof hybrid parallel platform. First, we describe the structural properties of the robot and analyze its kinematic mobility. A pure translational motion is verified to exist through the well-known D-H symbolic notations and the coordinate-transformation-matrix technique. What follows are the forward, inverse kinematics analysis, and their closed-form solutions by the matrix algebra approach. For further confirmation of the correctness of derived equations, some numerical examples are also given. With the help of the analytical displacement kinematics, we identify the volume of workspace. At last, taking account of the 3×3 reduced Jacobian matrix provides the condition number and the identification of singularity of configuration is explored based on the direct and inverse kinematics Jacobian matrix.

Kinematics of a 3-DOF Translational Parallel Mechanism With 3-PRPaR Topology

2004 ◽  
Author(s):  
Chung-Ching Lee ◽  
Jeng-Hong Chou
Keyword(s):  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Translational Motion ◽  
Analytical Form ◽  
Inverse Kinematic ◽  
Closed Form Solutions ◽  
The Matrix ◽  
Six Dof ◽  
Singular Configuration ◽  
Algebra Method

From the standpoint of kinematics, we present a type of three-dof pure spatial translational parallel mechanism with 3-PRPaR topology as an alternative to design automation devices and a regional structure of a six-dof hybrid parallel platform. First, we describe the structural properties of mechanism and analyze its kinematic mobility. It is verified that a pure translational motion does exist through the coordinate transformation technique and the well-known D-H parametric notations. Then, we proceed with the forward and inverse kinematic analysis and derive their analytical closed-form solutions by the matrix algebra method. For the confirmation of the derived equations, some numerical examples are also taken. Furthermore, with the help of the forward kinematics, we derive the workspace in the analytical form. Finally, taking account of the overall Jacobian matrix provides the condition number and the identification of singular configuration is explored based on direct and inverse kinematics Jacobian matrix.

Kinematic and Singularity Analysis of a Novel 4-DOF Parallel Manipulator

2011 ◽  
Vol 101-102 ◽  
pp. 685-688 ◽  
Author(s):  
Meng Guan ◽  
Yi Min Song ◽  
Tao Sun ◽  
Gang Dong
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Screw Theory ◽  
Singularity Analysis ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Velocity Analysis ◽  
Inverse Kinematic Analysis ◽  
In Virtue Of

This paper presents a novel 4-DOF (Degree of Freedom) parallel manipulator called 2-PSS&(2-PRR)R manipulator. Firstly, the architecture of this manipulator is described and the mobility is analyzed via screw theory. Secondly, the inverse kinematic analysis including position analysis and velocity analysis is performed. Finally, the Jacobian matrix is obtained through velocity analysis, and then three kinds of singularity configurations are observed in virtue of the Jacobian matrix. This paper lays the foundation for further research of this manipulator.

Kinematics of a Pure Translational UPS/3RPaPaR Parallel Mechanism

2007 ◽  
Author(s):  
Chung-Ching Lee ◽  
Po-Chih Lee
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Translational Motion ◽  
Singularity Analysis ◽  
Inverse Kinematic ◽  
Geometric Constraints ◽  
Design Parameters ◽  
Numerical Illustration ◽  
The Matrix ◽  
Kinematic Analyses

From the viewpoint of kinematics, a type of 3 degrees of freedom (dofs) UPS/3RPaPaR overconstrained parallel mechanism (Pa means the hinged 4R parallelogram) with pure translational motion is presented for the development of automatic assembly devices or as a regional structure in the hybrid parallel platform. In the beginning, the formation & mobility are elucidated and the 4×4 transformation matrix & the D-H notation with specific geometric constraints verify the pure translational motion. The forward and inverse kinematic analyses are then established in the analytical closed-form through the matrix method. Besides, we take a numerical illustration for the confirmation of correctness of the derived equations. The determination of workspace is also attained by the intersection of volumes swept by each limb. In addition, the Jacobian matrix and its condition number indicated by Euclidean norm as a function of design parameters are further achieved. Finally, the singularity analysis of the configuration based on the direct and inverse kinematic J-matrix during the movement is identified in detail.

Singularity Elimination of Stewart Parallel Manipulator Based on Redundant Actuation

2010 ◽  
Vol 143-144 ◽  
pp. 308-312 ◽  
Author(s):  
Yi Cao ◽  
Hui Zhou ◽  
Bao Kun Li ◽  
Shen Long ◽  
Meng Si Liu
Keyword(s):  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Singular Value ◽  
Kinematics And Dynamics ◽  
Redundant Actuation ◽  
Numerical Examples ◽  
Singular Configurations ◽  
Parallel Platform ◽  
Singular Configuration

This paper mainly addresses the principle of the singularity elimination of the Stewart parallel platform. By adding appropriate redundant actuation, the rank of the Jacobian matrix of the parallel platform is always full, accordingly the singular value of the Jacobian matrix of the parallel platform is nonzero. Then the singular configuration of the parallel platform can be eliminated by adding one redundant actuation. Numerical examples are taken to illuminate the principle’s effectiveness. It is shown that not only singular configurations of the Stewart parallel platform can be eliminated, but also performances of kinematics and dynamics of the parallel platform can be greatly perfected by adding appropriate redundant actuation.

scholarly journals A Parallel Manipulator With Only Translational Degrees of Freedom

1996 ◽  
Author(s):  
Lung-Wen Tsai ◽  
Richard Stamper
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Translational Motion ◽  
Forward Kinematics ◽  
Closed Form Solutions ◽  
Real Solutions ◽  
Revolute Joints ◽  
Inverse Kinematics Problem ◽  
Three Degree Of Freedom

Abstract This paper presents a novel three degree of freedom parallel manipulator that employs only revolute joints and constrains the manipulator output to translational motion. Closed-form solutions are developed for both the inverse and forward kinematics. It is shown that the inverse kinematics problem has up to four real solutions, and the forward kinematics problem has up to 16 real solutions.

Design, analysis, and stiffness optimization of a three degree of freedom parallel manipulator

Robotica ◽  
2009 ◽  
Vol 28 (3) ◽  
pp. 349-357 ◽  
Author(s):  
Zhen Gao ◽  
Dan Zhang ◽  
Xiaolin Hu ◽  
Yunjian Ge
Keyword(s):  
Parallel Manipulator ◽  
Optimization Methods ◽  
Inverse Kinematic ◽  
Mean Value ◽  
Optimization Techniques ◽  
Degree Of Freedom ◽  
Stiffness Optimization ◽  
Inverse Kinematic Analysis ◽  
Three Degree Of Freedom ◽  
Stiffness Distribution

SUMMARYThis paper proposed a novel three degree of freedom (DOF) parallel manipulator—two translations and one rotation. The mobility study and inverse kinematic analysis are conducted, and a CAD model is presented showing the design features. The optimization techniques based on artificial intelligence approaches are investigated to improve the system stiffness of the proposed 3-DOF parallel manipulator. Genetic algorithms and artificial neural networks are implemented as the intelligent optimization methods for the stiffness synthesis. The mean value and the standard deviation of the global stiffness distribution are proposed as the design indices. Both the single objective and multi-objective optimization issues are addressed. The effectiveness of this methodology is validated with Matlab.

A Novel Shoulder Exoskeleton Robot Using Parallel Actuation and a Passive Slip Interface

2016 ◽  
Vol 9 (1) ◽  
Author(s):  
Justin Hunt ◽  
Hyunglae Lee ◽  
Panagiotis Artemiadis
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Glenohumeral Joint ◽  
Translational Motion ◽  
Euler Angle ◽  
Inverse Kinematic ◽  
New Method ◽  
Novel Technologies ◽  
Manipulator Design ◽  
Spherical Parallel Manipulator

This paper presents a five degrees-of-freedom (DoF) low inertia shoulder exoskeleton. This device is comprised of two novel technologies. The first is 3DoF spherical parallel manipulator (SPM), which was developed using a new method of parallel manipulator design. This method involves mechanically coupling certain DoF of each independently actuated linkage of the parallel manipulator in order to constrain the kinematics of the entire system. The second is a 2DoF passive slip interface used to couple the user upper arm to the SPM. This slip interface increases system mobility and prevents joint misalignment caused by the translational motion of the user's glenohumeral joint from introducing mechanical interference. An experiment to validate the kinematics of the SPM was performed using motion capture. The results of this experiment validated the SPM's forward and inverse kinematic solutions through an Euler angle comparison of the actual and command orientations. A computational slip model was created to quantify the passive slip interface response for different conditions of joint misalignment. In addition to offering a low inertia solution for the rehabilitation or augmentation of the human shoulder, this device demonstrates a new method of motion coupling, which can be used to impose kinematic constraints on a wide variety of parallel architectures. Furthermore, the presented device demonstrates a passive slip interface that can be used with either parallel or serial robotic systems.

Performance Mapping and Motion Simulation of a 4UPS+PU Redundantly Actuated Parallel Manipulator

2010 ◽  
Author(s):  
Zhen Gao ◽  
Dan Zhang
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Parallel Manipulators ◽  
Inverse Kinematic ◽  
Reachable Workspace ◽  
Redundantly Actuated ◽  
Inverse Kinematic Analysis ◽  
Motion Characteristics ◽  
Operational Capacity

In this paper, a new 4UPS+PU redundantly actuated parallel manipulator is proposed. This mechanism possesses three degrees of freedom (DOF), one translation and two rotations. Different from general parallel manipulators, a passive leg is connected to both centers of the base and the moving platform to constrain the unwanted motion. The mobility study and inverse kinematic analysis are conducted. The reachable workspace is generated with boundary-searching based discretization method. The local and global performance indices including stiffness and dexterity and their atlas are investigated in details. Comprehensive simulation of kinematics, dynamics and proportional-integral-derivative (PID) position control are implemented based on Adams to evaluate and testify the high operational capacity and well motion characteristics.

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