scholarly journals Kinematics and Workspace Analysis of a 3PPPS Parallel Robot With U-Shaped Base

2017 ◽  
Author(s):  
Damien Chablat ◽  
Luc Baron ◽  
Ranjan Jha
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Robot ◽  
Joint Space ◽  
Industrial Applications ◽  
End Effector ◽  
Workspace Analysis ◽  
Discriminant Variety ◽  
Number Of Cells ◽  
Selection Of

This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse kinematics for the manipulator under study. The parallel singularities associated with the manipulator depend only on the orientation of the end-effector, and thus depend only on the orientation of the end effector. The quaternion parameters are used to represent the aspects, i.e. the singularity free regions of the workspace. A cylindrical algebraic decomposition is used to characterize the workspace and joint space with a low number of cells. The discriminant variety is obtained to describe the boundaries of each cell. With these simplifications, the 3-PPPS parallel robot with proposed design can be claimed as the simplest 6 DOF robot, which further makes it useful for the industrial applications.

scholarly journals Dynamic and Wrench-Feasible Workspace Analysis of a Cable-Driven Parallel Robot Considering a Nonlinear Cable Tension Model

2021 ◽  
Vol 12 (1) ◽  
pp. 244
Author(s):  
Vu N. D. Kieu ◽  
Shyh-Chour Huang
Keyword(s):  
Parallel Robot ◽  
Mechanical Analysis ◽  
Industrial Applications ◽  
Parallel Robots ◽  
Kinematic Equation ◽  
Cable Tension ◽  
End Effector ◽  
Tension Distribution ◽  
Workspace Analysis ◽  
High Dynamics

Cable-driven parallel robots (CDPRs) have several advantages and have been widely used in many industrial fields, especially industrial applications that require high dynamics, high payload capacity, and a large workspace. In this study, a design model for a CDPR system was proposed, and kinematic and dynamic modeling of the system was performed. Experiments were carried out to identify the dynamic modulus of elastic cables based on the dynamic mechanical analysis (DMA) method. A modified kinematic equation considering cable nonlinear tension was developed to determine the optimal cable tension at each position of the end-effector, and the wrench-feasible workspace was analyzed at various motion accelerations. The simulation results show that the proposed CDPR system obtains a large workspace, and the overall workspace is satisfactory and unrestricted for moving ranges in directions limited by the X-axis and the Y-axis from −0.3 to 0.3 m and by the Z-axis from 0.1 to 0.7 m. The overall workspace was found to depend on the condition of acceleration as well as the moving ranges limited by the end-effector. With an increase in external acceleration, the cable tension distribution increased and reached a maximum in the case of 100 m/s2.

Kinematic analysis and design of a novel 6-degree of freedom parallel robot

2014 ◽  
Vol 229 (2) ◽  
pp. 291-303 ◽  
Author(s):  
DU Hui ◽  
GAO Feng ◽  
PAN Yang
Keyword(s):  
Set Theory ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Design Methodology ◽  
Parallel Robot ◽  
End Effector ◽  
Analysis And Design ◽  
Velocity Models ◽  
Reachable Workspace ◽  
Rotational Motions

A novel 3-UP3R parallel mechanism with six degree of freedoms is proposed in this paper. One most important advantage of this mechanism is that the three translational and three rotational motions are partially decoupled: the end-effector position is only determined by three inputs, while the rotational angles are relative to all six inputs. The design methodology via GF set theory is brought out, using which the limb type can be determined. The mobility of the end-effector is analyzed. After that, the kinematic and velocity models are formulated. Then, workspace is studied, and since the robot is partially decoupled, the reachable workspace is also the dexterous workspace. In the end, both local and global performances are discussed using conditioning indexes. The experiment of real prototype shows that this mechanism works well and may be applied in many fields.

A Study on the Kinematics of 2-DOF Parallel Manipulator

2011 ◽  
Vol 148-149 ◽  
pp. 1487-1490
Author(s):  
Jong Gyu Lee ◽  
Sang Ryong Lee ◽  
Choon Young Lee ◽  
Seung Han Yang
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Displacement Velocity ◽  
Linear Motion ◽  
End Effector ◽  
Verification Algorithm

In this paper, a parallel manipulator is comprised of sliders and links. The end-effector has an orientation. Sliders execute a linear motion along parallel guidelines and make the connected links rotate. We derived displacement, velocity and acceleration from kinematic analysis of this manipulator using direct and inverse kinematics,found constraint conditions and proposed the verification algorithm of constraint conditions. With the result from the simulation, we found that there was a local workspace where the manipulator cannot carry out a series of link motion.

Experimental results for the flexible joint cable-suspended manipulator of ICaSbot

Robotica ◽  
2013 ◽  
Vol 31 (6) ◽  
pp. 887-904 ◽  
Author(s):  
M. H. Korayem ◽  
M. Bamdad ◽  
H. Tourajizadeh ◽  
A. H. Korayem ◽  
R. M. Zehtab ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Experimental Tests ◽  
Parallel Robot ◽  
Joint Space ◽  
End Effector ◽  
Flexible Joint ◽  
Cable Robot ◽  
Six Dof ◽  
And Control ◽  
Computed Torque

SUMMARYIn this paper, design, dynamic, and control of the motors of a spatial cable robot are presented considering flexibility of the joints. End-effector control in order to control all six spatial degrees of freedom (DOFs) of the system and motor control in order to control the joints flexibility are proposed here. Corresponding programing of its operation is done by formulating the kinematics and dynamics and also control of the robot. Considering the existence of gearboxes, flexibility of the joints is modeled in the feed-forward term of its controller to achieve better accuracy. A two sequential closed-loop strategy consisting of proportional derivative (PD) for linear actuators in joint space and computed torque method for nonlinear end-effector in Cartesian space is presented for further accuracy. Flexibility is estimated using modeling and simulation by MATLAB and SimDesigner. A prototype has been built and experimental tests have been done to verify the efficiency of the proposed modeling and controller as well as the effect of flexibility of the joints. The ICaSbot (IUST Cable-Suspended robot) is an under-constrained six-DOF parallel robot actuated by the aid of six suspended cables. An experimental test is conducted for the manufactured flexible joint cable robot of ICaSbot and the outputs of sensors are compared with simulation. The efficiency of the proposed schemes is demonstrated.

scholarly journals Algorithm to obtain inverse kinematics matrix from the 3D curve and to apply to glue shoe sole

2014 ◽  
Vol 17 (2) ◽  
pp. 5-17
Author(s):  
Thanh Le Nhu Ngoc Ha ◽  
Tung Thanh Luu ◽  
Tien Tan Nguyen
Keyword(s):  
Pid Controller ◽  
Inverse Kinematics ◽  
Interpolation Method ◽  
Industrial Applications ◽  
Tracking Performance ◽  
End Effector ◽  
Reference Path ◽  
3D Space ◽  
Position And Orientation ◽  
Arbitrary Curve

Nowadays, manipulator is widely used in industrial applications. The trajectories of manipulator are more and more complicated. In order to do good tracking performance, the end effector position and orientation have to be determined. This paper describes a method to determine position and orientation of manipulator’s end effector base on a reference path. This method will be applied for manipulator 6 DOF to glue shoe sole. Firstly, assume the reference path is arbitrary curve, the path was then discrete to become multi-point. Secondly, the roll – pitch – yaw vectors of the end effector will be determined at each point. Finally, Euler angles and interpolation method in 3D space will be applied to determine inverse kinematics matrix of manipulator for each point on the reference path. In addition, this paper also gives an example of reference path of shoe sole to apply the presented method. To verify the tracking performance of manipulator and reference path, a PID controller was designed for simulation. The result of simulation proved the correction of the algorithm.

Workspace Analysis of Cable-Driven Parallel Robot With Coulomb Friction Under Ultra-High-Acceleration

2016 ◽  
Author(s):  
Jun-Mu Heo ◽  
Sung-hyun Choi ◽  
Kyoung-Su Park
Keyword(s):  
Coulomb Friction ◽  
Parallel Robot ◽  
Parallel Robots ◽  
End Effector ◽  
High Acceleration ◽  
Workspace Analysis

Cable driven parallel robots (CDPRs) are a class of parallel robots in which the rigid links are replaced by cables. It consists of a moving end-effector and a number of active cables connected to the end-effector.

The QuadroG Robot, a Parallel Robot With a Configurable Platform for Haptic Applications

2015 ◽  
Author(s):  
Salua Hamaza ◽  
Patrice Lambert ◽  
Marco Carricato ◽  
Just Herder
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Parallel Robot ◽  
Parallel Robots ◽  
End Effector ◽  
Contact Points ◽  
Loop Chain ◽  
End Effectors ◽  
4 Degrees Of Freedom

This paper explores the fundamentals of parallel robots with configurable platforms (PRCP), as well as the design and the kinematic analysis of those. The concept behind PRCP is that the rigid (non-configurable) end-effector is replaced by a closed-loop chain, the configurable platform. The use of a closed-loop chain allows the robot to interact with the environment from multiple contact points on the platform, which reflects the presence of multiple end-effectors. This results in a robot that successfully combines motion and grasping capabilities into a structure that provides an inherent high stiffness. This paper aims to introduce the QuadroG robot, a 4 degrees of freedom PRCP which finely merges planar motion together with grasping capabilities.

scholarly journals Development of interface for kinematic analysis of a delta-type parallel robot

2021 ◽  
pp. 18-27
Author(s):  
Martín Eduardo Rodríguez-Franco ◽  
Ricardo Jara-Ruiz ◽  
Yadira Fabiola López-Álvarez ◽  
Juan Carlos García-Rodríguez
Keyword(s):  
Kinematic Analysis ◽  
Data Entry ◽  
Implementation Process ◽  
Parallel Robot ◽  
Inverse Kinematic ◽  
End Effector ◽  
Delta Type ◽  
Kinematic Models ◽  
User Friendly ◽  
Average Position

The development and implementation process of a computer interface for the kinematic analysis of a parallel robot, in delta configuration, and its application to a previously formed prototype are exposed. Being identified the associated equations, and deduced the respective geometric parameters. On the other hand, the synthesis of the direct and inverse kinematic models, with the Matlab software, guarantees the calculation of a specific Cartesian position, in the end effector of the robot used, once certain joint values have been assigned to it, or vice versa. Finally, a user-friendly graphical interface is created, whose functions are: data entry, resolution of the models described, issuance of the corresponding results, representation of the robot used and its physical manipulation. The results obtained in the real location of the end effector with respect to the values deduced by the interface, are competitive for both models analyzed, even though the prototype used operates by means of servomotors. An average position error of 0.083 cm per axis and overall of 0.006 cm is observed during the tests developed.

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