Kinematics Analysis of a New 3-DOF Rotational Parallel Mechanism

2012 ◽  
Author(s):  
Ziming Chen ◽  
Wen-ao Cao ◽  
Zhen Huang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Kinematics Analysis ◽  
Revolute Joints ◽  
The Relationship ◽  
Orientation Workspace

In this paper a new rotational parallel mechanism which has three rotational freedoms is studied. This mechanism consists of only revolute joints. In this mechanism, no joints intersect with each other. The constraint and motion properties are analyzed. The inverse kinematics is solved and the orientation workspace is studied. In the end, the relationship between the orientation workspace and the link lengths is shown.

Kinematics Analysis of a New 5 DOF Parallel-Serial Machine Tool Based on the Vector Method

2010 ◽  
Vol 450 ◽  
pp. 283-287 ◽  
Author(s):  
Rui Wang ◽  
Gang Ding ◽  
Shi Sheng Zhong
Keyword(s):  
Machine Tool ◽  
Parallel Mechanism ◽  
Kinematics Analysis ◽  
Vector Method ◽  
Velocity Transformation ◽  
Axis Parallel ◽  
Movable Platform ◽  
Parameter Coupling ◽  
The Relationship ◽  
Kinematics Parameters

A 5-axis parallel-serial machine tool is proposed, which consists of a 3-DOF parallel mechanism and a 2-DOF serial mechanism, and the kinematics analysis is discussed in detail based on the vector method. The size of the velocity transformation matrix is decreased. The problem of parameter coupling is resolved by adopting identity matrix and four-element vector. The relationship between the velocity and acceleration of the movable platform and the input parameters of the parallel mechanism is established. These algorithms are verified correct through ADAMS (Automatic Dynamic Analysis of Mechanical System) and can be referenced by kinematics analysis, dynamics analysis of parallel or parallel-serial machine tools, which have coupling kinematics parameters.

Inverse Kinematics Analysis of a 2-Dof Spherical Parallel Shift Manipulator

2015 ◽  
Vol 741 ◽  
pp. 687-690
Author(s):  
Lu Xi Chen ◽  
Zhan Xian Li ◽  
Zhi Jun Wang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Inverse Solution ◽  
Structure Characteristic ◽  
Chinese Characters ◽  
Kinematics Analysis ◽  
Parallel Shift ◽  
Kinematics Simulation ◽  
Spherical Parallel Mechanism

Shift manipulator requires the transmission shift lever end Chinese characters ‘Wang’ motion, this paper proposes a kind of 2-Dof asymmetric spherical parallel mechanism to realize the movement. The structure characteristic and the trajectory of the manipulator are described. The position inverse solution of the 2-Dof spherical parallel mechanism is obtained by inverse kinematics analysis. Inverse kinematics simulation of the parallel mechanism is proposed finally.

scholarly journals Design and Analysis of a Novel Tree Climbing Robot Mechanism

2020 ◽  
Author(s):  
Ru-Gui Wang ◽  
Hai-Bo Huang ◽  
Yi Li ◽  
Ji-Wei Yuan
Keyword(s):  
Numerical Simulation ◽  
Physical Model ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Screw Theory ◽  
Singular Points ◽  
Climbing Robot ◽  
Overall Design ◽  
Forward And Inverse Kinematics ◽  
The Relationship

Abstract In this paper, a novel tree climbing robot mechanism was designed, based on the tree climbing movement and posture of the primates. The overall design and tree climbing gait of the tree climbing robot were analyzed in detail. According to the screw theory, the DOF of the leg of the tree climbing robot is calculated. The forward and inverse kinematics equations of the tree climbing robot were established and solved. The kinematics of the leg parallel mechanism was established, furthermore, the singularity of the leg mechanism was analyzed and three types of singularity were derived. The simplified diagrams and the corresponding model diagrams, at the singular points, were drawn. Finally, the movement is simulated and analyzed. And the changes of the leg joint angular and the foot-end displacement and the relationship between the driving displacement and angles of the tree climbing robot by numerical simulation is obtained at the same time. Prototype physical model of the tree climbing robot was made, which further verified the rationality and feasibility of the tree climbing robot mechanism studied in this paper.

scholarly journals Type synthesis and kinematics analysis of a family of three translational and one rotational pick-and-place parallel mechanisms with high rotational capability

2019 ◽  
Vol 11 (6) ◽  
pp. 168781401985307
Author(s):  
Xing Zhang ◽  
Dejun Mu ◽  
Yuze Liu ◽  
Jie Bi ◽  
Hongrui Wang
Keyword(s):  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Hessian Matrix ◽  
Parallel Mechanisms ◽  
Kinematics Analysis ◽  
Type Synthesis ◽  
Lie Group Theory ◽  
Revolute Joints ◽  
Pick And Place ◽  
Pick And Place Operation

This article proposes a family of spatial three translational and one rotational parallel mechanisms (PMs) for pick-and-place operation. Their features are one independent rotation of the mechanism with four identical limbs, which are provided by the four revolute joints on the moving platform. The rotational capability of the PMs has a range of at least 180°. This article focuses on the synthesis of the PMs and kinematics analysis of the 4- P(2-SS)R parallel mechanism. First, based on the Lie group theory, three parallelograms are used in designing the PMs. The limbs are listed and two types of three translational and one rotational PMs are synthesized. Then, a typical 4- P(2-SS)R PM is selected, the 6 × 6 Jacobian matrix and the 6 × 6 × 6 Hessian matrix of the mechanism are derived for solving the displacement, velocity, and acceleration of the mechanism. Finally, singularity configurations are disclosed from the 6 × 6 Jacobian matrix, and the workspace of the mechanism is provided to illustrate the high rotational capability.

scholarly journals Design and analysis of a class of redundant collaborative manipulators with 2D large rotational angles

2019 ◽  
Vol 15 (1) ◽  
pp. 66-80
Author(s):  
Xiaodong Jin ◽  
Yuefa Fang ◽  
Dan Zhang ◽  
Xueling Luo
Keyword(s):  
Machine Tools ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Rotational Axis ◽  
Revolute Joints ◽  
3D Printers ◽  
Rotational Degrees Of Freedom ◽  
Moving Platform ◽  
Orientation Workspace

AbstractThe parallel spindle heads with high rotational capability are demanded in the area of multi-axis machine tools and 3D printers. This paper focuses on designing a class of 2R1T (R: Rotation; T: Translation) parallel spindle heads and the corresponding collaborative 5-axis manipulators with 2-dimension (2D) large rotational angles. In order to construct 2D rotational degrees of freedom (DOFs), a platform with 2D revolute joints is proposed first. Based on the constraint screw theory, the feasible limbs that can be connected in the platform are synthesized. In order to provide constant rotational axis for the platform, a class of redundant limbs are designed. A class of redundant 2R1T parallel spindle heads is obtained by connecting the redundant limbs with the platform and the redundant characteristics are verified by the modified Grübler-Kutzbach criterion. The corresponding 5-axis collaborative manipulators are presented by constructing a 2-DOF series translational bottom moving platform. The inverse kinematics and the orientation workspace as well as the decoupling characteristics of this type of 2R1T parallel spindle heads are analyzed. The results show that these manipulators have large 2D rotational angles than the traditional A3/Z3 heads and can be potentially used in the application of multi-axis machine tools and the 3D printers.

Position Kinematics of the Generalized Lobster Arm and Its Series-Parallel Dual

1992 ◽  
Vol 114 (3) ◽  
pp. 406-413 ◽  
Author(s):  
V. Murthy ◽  
K. J. Waldron
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Kinematic Chain ◽  
Polynomial Equation ◽  
Specific Geometry ◽  
Univariate Polynomial ◽  
The One ◽  
Dual Mechanism ◽  
The Relationship ◽  
Direct Kinematics

The generalized lobster arm is a six revolute open kinematic chain with 3 consecutive intersecting pairs of axes. A new solution of the inverse position kinematics problem of this arm which takes advantage of its specific geometry is presented. A comparison is made with the direct position kinematics problem of the series-parallel dual mechanism. The equations governing the two problems show strong similarity and can each be reduced to a sixteenth degree univariate polynomial equation. The dual series-parallel mechanism is the one that exhibits, with the lobster arm, the symmetry that exists between the wrench and the velocity motor. Although the results presented here have intrinsic interest, a more generally important feature is the relationship between the solutions to the inverse kinematics of the serial mechanism and the direct kinematics of the parallel mechanism. Although the series-parallel duality has not been shown to hold in the position domain, except in terms of very general characteristics, it is shown here that the two solutions are of the same degree and have other features in common.

The Inverse Kinematics Analysis of 3-RPS DOF Parallel Mechanism

2013 ◽  
Vol 278-280 ◽  
pp. 654-659 ◽  
Author(s):  
Xiao Dong Liang ◽  
Xian Fei Li ◽  
Yi Tang
Keyword(s):  
Reference Point ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Position Vector ◽  
Kinematics Analysis ◽  
Point Position ◽  
Arbitrary Reference ◽  
Electric Cylinder

In the paper, by analysing the inverse kinematics of the 3-RPS DOF parallel mechanism, establish the calculation equation between rotation angles and reference point position vector, deduce the length formula of each electric cylinder. With the help of MATLAB, calculating the corresponding rotation angles of the arbitrary reference point and the length of each electric cylinder, which is within the motion of the platform, then getting the kinematic posture, which proved to be correct and feasible.

Design, Modeling and Kinematics Analysis of a Novel Serial/Parallel Pole Climbing and Manipulating Robot

Volume 2 ◽  
2004 ◽  
Author(s):  
G. R. Vossoughi ◽  
S. Bagheri ◽  
M. Tavakoli ◽  
M. R. Zakerzadeh ◽  
M. Hosseinzadeh
Keyword(s):  
Cross Section ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Main Part ◽  
Target Point ◽  
Tubular Structures ◽  
Kinematics Analysis ◽  
Kinematics Model ◽  
Workspace Analysis ◽  
Forward And Inverse Kinematics

This paper introduces a multi-task 4 DOF pole climbing/manipulating robotic mechanism. A hybrid serial/parallel mechanism, providing 2 translations and 2 rotations, have been designed as the main part of the mechanism. This robotic mechanism can travel along tubular structures with bends, branches and step changes in cross section. It is also able to perform manipulation, repair and maintenance tasks after reaching the target point on the structure. After introducing the mechanism, a kinematics model and the forward and inverse kinematics as well as the workspace analysis of the mechanism are presented.

Sign in / Sign up

Export Citation Format

Share Document