scholarly journals On the Design of Mobile Parallel Robots for Large Workspace Applications

2011 ◽  
Author(s):  
Hai Yang ◽  
Se´bastien Krut ◽  
Franc¸ois Pierrot ◽  
Ce´dric Baradat
Keyword(s):  
Parallel Robots ◽  
Legged Robots ◽  
Parallel Mechanisms ◽  
Mobility Analysis ◽  
Design Constraints ◽  
And Performance ◽  
Forward Kinematic

In this paper, several considerations for designing industry oriented robots which combine the mobility of legged robots and advantages of parallel mechanisms are outlined. For designing such optimized robots in terms of simplicity and performance, a topology study is done based on the mobility analysis. Applying some design constraints, potential topologies of such robots are identified. One architecture is chosen for designing a tripod robot. Both inverse and forward kinematic problems of this robot are derived in order to simulate its gait motion. The analysis and simulations show that: integrating some clamping devices and some lockable passive joints, six actuators are enough to build a legged manipulator which can not only perform 6-axis machining but can also walk on a curved supporting media.

The Mobility Analyses of Some Classical Mechanism and Recent Parallel Robots

2006 ◽  
Author(s):  
Zhen Huang ◽  
Ping Xia
Keyword(s):  
Parallel Robots ◽  
Parallel Mechanisms ◽  
Mobility Analysis ◽  
Complicated Problem ◽  
Analysis Methodology ◽  
Mobility Problem ◽  
Delta Robot ◽  
Mechanism Theory ◽  
Classical Mechanism

The paper once again deals with the mobility analysis methodology of mechanisms based on constraint screw. It is a very important subject in mechanism theory lasting about 150 year. Firstly, the paper introduces some background and then the methodology. The paper focuses on analysis of some “paradoxical mechanisms”, including classical mechanism and modern parallel mechanisms, such as Bennett mechanism, Delta robot, Tsai’s CPM mechanism and so on. All the results prove that for the difficult mobility problem the analysis procedures are quite simple and convenient, and will easily be held by numerous mechanical engineers. The complicated problem is solved only by using a pencil, a sheet of paper and just for a few minutes.

scholarly journals Introduction to the special issue: parallel manipulators.

Robotica ◽  
1997 ◽  
Vol 15 (4) ◽  
pp. 353-353
Author(s):  
François Pierrot
Keyword(s):  
North America ◽  
Parallel Manipulators ◽  
Parallel Robots ◽  
Parallel Mechanisms ◽  
Special Issue ◽  
Industrial Areas

It has been a pleasure for me to arrange this Special Issue of Robotica on Parallel Robots which provides 9 papers from authors from Asia, Oceania, North America and Europe; worldwide research on this topic is proof of the growing interest of both the scientific and the industrial areas of parallel mechanisms. I truly believe that the main reason for this enthusiasm is that parallel mechanisms research extends from theoretical mathematics and kinematics to applied robotics, and even beyond, creating new technological challenges.

Gröbner basis and resultant method for the forward displacement of 3-DoF planar parallel manipulators in seven-dimensional kinematic space

Robotica ◽  
2015 ◽  
Vol 34 (11) ◽  
pp. 2610-2628 ◽  
Author(s):  
Davood Naderi ◽  
Mehdi Tale-Masouleh ◽  
Payam Varshovi-Jaghargh
Keyword(s):  
Euclidean Space ◽  
Gröbner Basis ◽  
Three Dimensional ◽  
Parallel Manipulators ◽  
Parallel Robots ◽  
Dimensional Euclidean Space ◽  
Grobner Basis ◽  
Kinematic Space ◽  
Forward Kinematic Problem ◽  
Forward Kinematic

SUMMARYIn this paper, the forward kinematic analysis of 3-degree-of-freedom planar parallel robots with identical limb structures is presented. The proposed algorithm is based on Study's kinematic mapping (E. Study, “von den Bewegungen und Umlegungen,” Math. Ann.39, 441–565 (1891)), resultant method, and the Gröbner basis in seven-dimensional kinematic space. The obtained solution in seven-dimensional kinematic space of the forward kinematic problem is mapped into three-dimensional Euclidean space. An alternative solution of the forward kinematic problem is obtained using resultant method in three-dimensional Euclidean space, and the result is compared with the obtained mapping result from seven-dimensional kinematic space. Both approaches lead to the same maximum number of solutions: 2, 6, 6, 6, 2, 2, 2, 6, 2, and 2 for the forward kinematic problem of planar parallel robots; 3-RPR, 3-RPR, 3-RRR, 3-RRR, 3-RRP, 3-RPP, 3-RPP, 3-PRR, 3-PRR, and 3-PRP, respectively.

Analyses of Error and Precision of 6-DOF Platform

2012 ◽  
Vol 591-593 ◽  
pp. 2081-2086 ◽  
Author(s):  
Rui Ren ◽  
Chang Chun Ye ◽  
Guo Bin Fan
Keyword(s):  
Inverse Kinematics ◽  
Newton Iteration ◽  
Forward Kinematics ◽  
Parallel Mechanisms ◽  
End Effector ◽  
C Programming Language ◽  
C Programming ◽  
Manufacturing Tolerances ◽  
Parallel Robotics ◽  
Forward Kinematic

A particular subset of 6-DOF parallel mechanisms is known as Stewart platforms (or hexapod). Stewart platform characteristic analyzed in this paper is the effect of small errors within its elements (strut lengths, joint placement) which can be caused by manufacturing tolerances or setting up errors or other even unknown sources to end effector. The biggest kinematics problem is parallel robotics which is the forward kinematics. On the basis of forward kinematic of 6-DOF platform, the algorithm model was built by Newton iteration, several computer programs were written in the MATLAB and Visual C++ programming language. The model is effective and real-time approved by forwards kinematics, inverse kinematics iteration and practical experiment. Analyzing the resource of error, get some related spectra map, top plat position and posture error corresponding every error resource respectively. By researching and comparing the error spectra map, some general results is concluded.

Jacobian Derivation of 5-DOF 3R2T Parallel Mechanisms

2004 ◽  
Author(s):  
Qinchuan Li ◽  
Xudong Hu ◽  
Zhen Huang
Keyword(s):  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Screw Theory ◽  
Kinematic Chain ◽  
Parallel Mechanisms ◽  
Mobility Analysis

This paper presents a method for the Jacobian derivation of 5-DOF 3R2T PMs (parallel mechanisms), where 3R denotes three rotational DOFs (degrees of freedom) and 2T denotes two translational DOFs. First the mobility analysis of such kind of parallel mechanisms is reviewed briefly. The Jacobian matrix of the single limb kinematic chain is obtained via screw theory, which is a 6 × 5 matrix. Then it is shown that the mobility analysis of such kind of PM is important when simplifying the 6 × 5 matrix into a 5 × 5 Jacobian matrix. After obtaining the 5 × 5 Jacobian matrix for each limb, a 5 × 5 Jacobian matrix for the whole mechanism can be established.

On the Stability of the Quadruple Solutions of the Forward Kinematic Problem in Analytic Parallel Robots

2016 ◽  
Vol 86 (3-4) ◽  
pp. 381-396 ◽  
Author(s):  
Adrián Peidró ◽  
Arturo Gil ◽  
José María Marín ◽  
Luis Payá ◽  
Óscar Reinoso
Keyword(s):  
Parallel Robots ◽  
The Stability ◽  
Forward Kinematic Problem ◽  
Forward Kinematic

Design and Prototyping of a Force-Reflecting Hand-Controller for Ultrasound Imaging

2011 ◽  
Vol 3 (2) ◽  
Author(s):  
Farshid Najafi ◽  
Nariman Sepehri
Keyword(s):  
Ultrasound Imaging ◽  
Static Friction ◽  
Parallel Mechanisms ◽  
Detailed Design ◽  
Remote Locations ◽  
Output Force ◽  
And Performance ◽  
Drive Systems ◽  
Robotic Wrist ◽  
Fixed Center

This paper presents detailed design, analysis, prototyping, and testing of a novel force-reflecting hand-controller allowing physicians to control a robotic wrist and perform ultrasound examinations on patients in remote locations. The proposed device is a four degree-of-freedom mechanism with a fixed center-of-motion and uses symmetric parallel mechanisms. All movements of the device are kinematically decoupled, i.e., the hand-controller has independent drive systems for each standard ultrasound motion. A technique has been adapted to statically balance the weight of the device over its entire workspace using a single tension spring. The prototype of the device has been constructed and evaluated for ultrasound imaging of kidney and spleen. Maximum and accuracy of the output force are analytically determined and performance of the device in terms of static balancing, static-friction break-away force, and maximum achievable impedances are experimentally evaluated.

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