The Method of Modeling of a Novel 6-DOF Parallel Manipulator As a Generalized Virtual Road Vehicle for On-Board Equipment Test

2017 ◽  
Author(s):  
Yan Hu ◽  
Feng Gao ◽  
Rui Cao ◽  
Xianchao Zhao
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Motion Simulation ◽  
Road Vehicle ◽  
Full Size ◽  
Analytical Characterization ◽  
Vehicle Motion ◽  
Forward And Inverse Kinematics ◽  
Singular Configuration

This paper presents a novel 6-DOF parallel manipulator for a new kind of vehicle motion simulation system, which is referred to as GVRV system. This system can realistically replicate the motion of any specified spot within the cabin of a real road vehicle in real time. Unlike traditional automobile testing platforms and vehicle motion simulators which are aimed at the vehicle, this system is aimed at the development of on-board equipment. The objective of this paper is to study how to do the modeling and motion planning work of this proposed manipulator to make it qualified as a generalized virtual road vehicle (GVRV) for on-board equipment test. First, the analytical characterization of the proposed 6-DOF parallel manipulator is presented. The forward and inverse kinematics problems of this manipulator are solved and its advantages such as high isotropy, well decoupling characteristic and no singular configuration within the demanded workspace are illustrated. Then, based on the full-size prototype of the manipulator, the whole GVRV system is built and described. By the study of the requirements for vehicle motion reproduction, the method of modeling is presented for this purpose. Finally, experiments are presented to demonstrate the validity of the model of the 6-DOF parallel manipulator for vehicle motion reproduction for use in on-board equipment test.

Mechanical Design and Kinematic Analysis of a Three-Legged Six Degree-of-Freedom Parallel Manipulator

1992 ◽  
Author(s):  
D. Zlatanov ◽  
M. Q. Dai ◽  
R. G. Fenton ◽  
B. Benhabib
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Mechanical Design ◽  
Closed Form Solution ◽  
Form Solution ◽  
Forward Kinematics ◽  
Spherical Joint ◽  
Revolute Joints ◽  
Forward And Inverse Kinematics ◽  
Six Degree Of Freedom

Abstract In this paper a three-legged 6-dof platform-type parallel manipulator is described. Each of the legs is a serial subchain with three revolute joints connected to the output platform via a spherical joint. Due to the proposed asymmetrical 3-2-1 distribution of the controlled joints, a closed-form solution exists to the forward kinematics problem. The mechanical design of the manipulator has been developed. The forward and inverse kinematics as well as the instantaneous kinematics of the mechanism have been solved analytically.

Design and kinematic analysis of a rotary positioner

Robotica ◽  
2006 ◽  
Vol 25 (1) ◽  
pp. 75-85 ◽  
Author(s):  
Borys Shchokin ◽  
Farrokh Janabi-Sharifi
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Stewart Platform ◽  
Optimal Combination ◽  
Variable Length ◽  
Mobile Platform ◽  
Constant Length ◽  
Forward And Inverse Kinematics ◽  
Circular Base

A rotary positioner (RP) is a type of parallel manipulator that is similar to a Stewart Platform. Instead of having variable-length bars, however, an RP has constant-length limbs located between a mobile platform as well as six circular motors distributed on a circular base. This paper offers a detailed investigation of an RP, focusing on its mechanism and analyzing its forward and inverse kinematics. It also computes an RP's constant orientation and orientation workspaces, taking into account the constraints imposed by passive joints and links interference. The optimal combination of the main parameters for an RP's maximum possible translation and orientation is also provided.

Design and analysis of a new singularity-free three-prismatic-revolute-cylindrical translational parallel manipulator

2007 ◽  
Vol 221 (5) ◽  
pp. 565-576 ◽  
Author(s):  
Q Xu ◽  
Y Li
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Screw Theory ◽  
Forward Kinematics ◽  
Design Rules ◽  
Physical Constraints ◽  
Mechanical Joints ◽  
Reachable Workspace ◽  
Regular Shape ◽  
Singular Configuration

A new three-prismatic-revolute-cylindrical (three-PRC) translational parallel manipulator (TPM) with orthogonally arranged fixed actuators is proposed in this paper. The mobility of the manipulator is analysed via screw theory. The inverse kinematics, forward kinematics, and velocity analyses are performed and the singularities and isotropic configurations are identified afterwards. Moreover, the mechanism design rules producing a singularity-free manipulator have been generated. Under different cases of physical constraints subject to mechanical joints, the reachable workspace of the manipulator is geometrically determined and compared. In particular, it is illustrated that the manipulator has a regular shape workspace with a maximum cuboid defined as the usable workspace inscribed and one isotropic configuration involved. Furthermore, to obtain a large usable workspace, the architecture design of a three-PRC TPM is carried out and the singularity property within the usable workspace is verified. Simulation results show that there are no singular configuration within the workspace, which reveal the validity of design rules for a singularity-free three-PRC TPM.

A Novel Hydraulic Spherical Joint and Motion Analysis

2014 ◽  
Vol 971-973 ◽  
pp. 314-317
Author(s):  
Shou Long Fang ◽  
Liang Wang ◽  
Shuai Ding
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Hydraulic Drive ◽  
Spherical Joint ◽  
Compact Structure ◽  
New Type ◽  
Forward And Inverse Kinematics ◽  
Joint Mechanism ◽  
Singular Configuration ◽  
Mechanism Theory

Proposing a new type of hydraulic drive spherical joint with two degrees of freedom.The joint mechanism has the advantages of hydraulic and also can rotate with multi-degrees of freedom. Based on the mechanism theory, the forward and inverse kinematics equations are derivated and the singular configuration and workspace of the mechanism are found. The spherical joint mechanism has these characteristics: a compact structure, low coupling, large load, and the joint can complete the omni-directional output.

Experimental and Analytical Characterization of Firebrand Ignition of Home Insulation Materials

2019 ◽  
Vol 55 (3) ◽  
pp. 1027-1056 ◽  
Author(s):  
Savannah S. Wessies ◽  
Michael K. Chang ◽  
Kevin C. Marr ◽  
Ofodike A. Ezekoye
Keyword(s):  
Analytical Characterization ◽  
Insulation Materials

Kinematics of a New High-Precision Three-Degree-of-Freedom Parallel Manipulator

2006 ◽  
Vol 129 (3) ◽  
pp. 320-325 ◽  
Author(s):  
Farhad Tahmasebi
Keyword(s):  
Power Dissipation ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Base Plane ◽  
Degree Polynomial ◽  
Payload Capacity ◽  
Half Angle ◽  
Three Degree Of Freedom ◽  
Direct Kinematics

Closed-form direct and inverse kinematics of a new three-degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three-DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base mounted, higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of the tangent of the half-angle between one of the limbs and the base plane. Hence, there are at most 16 assembly configurations for the manipulator. In addition, it is shown that the 16 solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.

A Hybrid Self-Stressed Cable-Driven Mechanism

2008 ◽  
Author(s):  
Saeed Behzadipour
Keyword(s):  
Static Loading ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Tensile Force ◽  
Cable System ◽  
End Effector ◽  
Stiffness Analysis ◽  
Cable Length ◽  
Cable Drive ◽  
Forward And Inverse Kinematics

A new hybrid cable-driven manipulator is introduced. The manipulator is composed of a Cartesian mechanism to provide three translational degrees of freedom and a cable system to drive the mechanism. The end-effector is driven by three rotational motors through the cables. The cable drive system in this mechanism is self-stressed meaning that the pre-tension of the cables which keep them taut is provided internally. In other words, no redundant actuator or external force is required to maintain the tensile force in the cables. This simplifies the operation of the mechanism by reducing the number of actuators and also avoids their continuous static loading. It also eliminates the redundant work of the actuators which is usually present in cable-driven mechanisms. Forward and inverse kinematics problems are solved and shown to have explicit solutions. Static and stiffness analysis are also performed. The effects of the cable’s compliance on the stiffness of the mechanism is modeled and presented by a characteristic cable length. The characteristic cable length is calculated and analyzed in representative locations of the workspace.

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