scholarly journals IRSBot-2: A Novel Two-DOF Parallel Robot for High-Speed Operations

2011 ◽  
Author(s):  
Coralie Germain ◽  
Se´bastien Briot ◽  
Victor Glazunov ◽  
Ste´phane Caro ◽  
Philippe Wenger
Keyword(s):  
High Speed ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
Kinematic Chains ◽  
Robot Architecture ◽  
Intrinsic Stiffness ◽  
Two Degree Of Freedom

This paper presents a novel two-degree-of-freedom (DOF) translational parallel robot for high-speed applications named the IRSBot-2 (acronym for IRCCyN Spatial Robot with 2 DOF). Unlike most two-DOF robots dedicated to planar translational motions, this robot has two spatial kinematic chains which confers a very good intrinsic stiffness. First, the robot architecture is described. Then, its actuation and constraint singularities are analyzed. Finally, the IRSBot-2 is compared to its two-DOF counterparts based on elastostatic performances.

scholarly journals Kinematic analysis of the X4 translational–rotational parallel robot

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141880384 ◽  
Author(s):  
Stefan Staicu ◽  
Zhufeng Shao ◽  
Zhaokun Zhang ◽  
Xiaoqiang Tang ◽  
Liping Wang
Keyword(s):  
High Speed ◽  
Parallel Manipulators ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
Parallel Mechanisms ◽  
Kinematic Chains ◽  
Revolute Joints ◽  
Commercial Applications ◽  
Recursive Matrix ◽  
Singularity Locus

High-speed pick-and-place parallel manipulators have attracted considerable academic and industrial attention because of their numerous commercial applications. The X4 parallel robot was recently presented at Tsinghua University. This robot is a four-degree-of-freedom spatial parallel manipulator that consists of high-speed closed kinematic chains. Each of its limbs comprises an active pendulum and a passive parallelogram, which are connected to the end effector with other revolute joints. Kinematic issues of the X4 parallel robot, such as degree of freedom analysis, inverse kinematics, and singularity locus, are investigated in this study. Recursive matrix relations of kinematics are established, and expressions that determine the position, velocity, and acceleration of each robot element are developed. Finally, kinematic simulations of actuators and passive joints are conducted. The analysis and modeling methods illustrated in this study can be further applied to the kinematics research of other parallel mechanisms.

scholarly journals Two-degree-of-freedom internal model position control and fuzzy fractional force control of nonlinear parallel robot

2019 ◽  
Vol 50 (12) ◽  
pp. 2261-2279 ◽  
Author(s):  
Shuhuan Wen ◽  
Di Zhang ◽  
Baowei Zhang ◽  
Hak Keung Lam ◽  
Hongbin Wang ◽  
...  
Keyword(s):  
Force Control ◽  
Internal Model ◽  
Position Control ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
Two Degree Of Freedom

Motion control of a two-axis linear motor-driven stage in the micro-milling process

2016 ◽  
Vol 232 (1) ◽  
pp. 65-76
Author(s):  
Mohammad S Heydarzadeh ◽  
Seyed M Rezaei ◽  
Noor A Mardi ◽  
Ali Kamali E
Keyword(s):  
Kalman Filter ◽  
High Speed ◽  
Linear Motor ◽  
Degree Of Freedom ◽  
Micro Milling ◽  
Proportional Integral Derivative ◽  
Direct Drive ◽  
Proportional Integral Derivative Controller ◽  
Proportional Integral ◽  
Two Degree Of Freedom

The application of linear motor-driven stages as the feed drivers of CNC micro milling machine tools is growing. In addition to employ high speed and high precision equipment such as linear motor-driven stages, the precision of the machined contours is highly dependent on the capabilities of the servo controllers. In this paper, the design of a precise controller for a two-axis LMDS has been investigated for micro-milling applications. In such feed drives, disturbances such as friction, force ripples, and machining forces have adverse effects on the workpiece positioning precision due to the direct drive concept behind them. Therefore, in order to have an acceptable transient response and disturbance rejection properties, a two-degree-of-freedom proportional–integral–derivative controller was employed for each axis. To design this controller, the zero-placement method was used. To compensate disturbances and machining contour errors, the utilization of Kalman filter observers, neural networks, cross-coupled controllers, and different integration of them were studied. The controllers were experimentally examined for circular motions. An integrated controller consisted of a Kalman filter disturbance observer, a cross-coupled controller, and a well-designed two-degree-of-freedom proportional–integral–derivative controller resulted in a high contouring and tracking precision. The controller could also reduce the spikes caused by the friction at the motion reversal points such as the quadrants in circle trajectories.

Ultra-high speed positioning control of a gravure engraving unit using a discrete-time two-degree-of-freedom H∞ control

2002 ◽  
Vol 10 (7) ◽  
pp. 783-795 ◽  
Author(s):  
Mitsuo Hirata ◽  
Donghao Tang ◽  
Kenzo Nonami ◽  
Hideaki Ogawa ◽  
Yoshihiro Taniguchi
Keyword(s):  
Discrete Time ◽  
High Speed ◽  
Degree Of Freedom ◽  
Positioning Control ◽  
Ultra High Speed ◽  
Two Degree Of Freedom

scholarly journals Ultra-High Speed Positioning Control of a Piezoelectirc Actuator by Using Discrete-Time Two-Degree-of-Freedom H∞ Control

2001 ◽  
Vol 121 (8) ◽  
pp. 879-886
Author(s):  
Mitsuo Hirata ◽  
Donghao Tang ◽  
Kenzo Nonami ◽  
Hideaki Ogawa ◽  
Yoshihiro Taniguchi
Keyword(s):  
Discrete Time ◽  
High Speed ◽  
Degree Of Freedom ◽  
Positioning Control ◽  
Ultra High Speed ◽  
Two Degree Of Freedom

A New Algorithm for the Determination of the Workspace of Complex Planar Kinematic Chains

1995 ◽  
Author(s):  
Pascal Lê-Huu ◽  
Clément M. Gosselin
Keyword(s):  
Numerical Solution ◽  
Inverse Kinematics ◽  
Degree Of Freedom ◽  
Topological Graph ◽  
Kinematic Chains ◽  
Cartesian Space ◽  
Hybrid Manipulator ◽  
Three Degree Of Freedom ◽  
Two Degree Of Freedom

Abstract A new algorithm for the determination of the workspace of complex planar kinematic chains is presented in this paper. This algorithm is completely general since it can deal with any kind of topological graph and any set of parameters defined in a convention of notation. It uses the numerical solution of the inverse kinematics and is based on a wavefront expansion in the Cartesian space. Three examples are presented here, and lead to a dexterity mapping for two two-degree-of-freedom multi-loop manipulators and a three-degree-of-freedom hybrid manipulator.

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