scholarly journals The Effect of the Optimization Selection of Position Analysis Route on the Forward Position Solutions of Parallel Mechanisms

Robotics ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 93
Author(s):  
Huiping Shen ◽  
Qing Xu ◽  
Ju Li ◽  
Ting-li Yang
Keyword(s):  
Parallel Mechanism ◽  
Selection Criterion ◽  
Parallel Mechanisms ◽  
Position Analysis ◽  
Kinematics Modeling ◽  
Position Solution ◽  
Independent Loops ◽  
Selection Of

The forward position solution (FPS) of any complex parallel mechanism (PM) can be solved through solving in sequence all of the independent loops contained in the PM. Therefore, when solving the positions of a PM, all independent loops, especially the first loop, must be correctly selected. The optimization selection criterion of the position analysis route (PAR) proposed for the FPS is presented in this paper, which can not only make kinematics modeling and solving efficient but also make it easy to get its symbolic position solutions. Two three-translation PMs are used as the examples to illustrate the optimization selection of their PARs and obtain their symbolic position solutions.

On the Design of Planar Reactionless Parallel Mechanisms

2004 ◽  
Author(s):  
Abbas Fattah ◽  
Sunil K. Agrawal
Keyword(s):  
Computer Simulations ◽  
Parallel Mechanism ◽  
Center Of Mass ◽  
Parallel Mechanisms ◽  
Inertial Parameters ◽  
Reaction Forces ◽  
Salient Features ◽  
Selection Of

A reactionless machine will not apply reaction forces and moments on the mounting base during motion. This article presents the theory for design of a reactionless planar parallel mechanism. The salient features of this design are: (i) it uses auxiliary parallelograms to locate the center of mass of each leg at the base, (ii) choice of geometric and inertial parameters to satisfy the recationless conditions, (iii) selection of trajectory to achieve a reactionless design. We illustrate the reactionless feature of such a mechanism through computer simulations.

scholarly journals Higher-Order Kinematics Modeling of 3-RRS Parallel Mechanism Based on CGA

2020 ◽  
Author(s):  
Chang Wang ◽  
Tieshi Zhao ◽  
Erwei Li ◽  
Yanzhi Zhao ◽  
Hui Bian ◽  
...  
Keyword(s):  
Clifford Algebra ◽  
Parallel Mechanism ◽  
Robot Vision ◽  
Higher Order ◽  
Rigid Bodies ◽  
Human Robot Interaction ◽  
Parallel Mechanisms ◽  
Kinematics Modeling ◽  
The Matrix ◽  
Mathematical Relationships

Abstract Higher-order kinematics of mechanisms has been applied in servo motor control, human-robot interaction and machinery life design fields, etc. The representations of acceleration and jerk by screws have been fully developed by researchers with the methods of the differential of the matrix representation of SE(3) group. Clifford algebra, which is tighter and with higher computational efficiency than the matrix method, is another representation of the motions of rigid bodies. It has been used in position kinematics, grub task motion planning, and robot vision for its convenience of geometric representations and calculations. As far as we know, the work of higher-order kinematics of mechanisms based on Clifford algebra is rare. First, after recalling the based theory of motion representation in conformal geometric algebra (CGA), the mathematical relationships between flag and motor are built. Second, a method for the higher-order kinematics modeling of serial chain mechanisms is proposed. Finally, the higher-order kinematics of the 3-RRS parallel mechanism is built to prove the correctness of the algorithm. This work further enriches the application of CGA for the higher-order kinematics modeling of parallel mechanisms.

Flexure Parallel Mechanism: Configuration and Performance Improvement of a Compact Acceleration Sensor

2012 ◽  
Vol 4 (3) ◽  
Author(s):  
Zhen Gao ◽  
Dan Zhang
Keyword(s):  
Parallel Mechanism ◽  
Structure Evolution ◽  
Cantilever Beams ◽  
Parallel Mechanisms ◽  
Acceleration Sensor ◽  
Element Analysis ◽  
Revolute Joints ◽  
Kinematics Modeling ◽  
And Performance ◽  
Monolithic Structure

This research presents a tridimensional acceleration sensor based on flexure parallel mechanism (FPM). Three perpendicular compliant limbs with compact monolithic structure are developed to serve as the elastic component for acquiring the inertial signals in each direction. With integrated flexure hinges, each chain containing multiple revolute joints and cantilever beams are designed to carry compressive and tensile loads. First, the structure evolution and kinematics modeling are introduced, followed by the multispring modeling of the directional compliance for the flexure limb. Then, the comprehensive finite-element analysis (FEA) including the strain of the sensitive limbs, modal analysis for total deformation under different frequency is conducted. The compliances calculated by FEA and multispring model are compared. Finally, the dimensional optimization is implemented based on multipopulation genetic algorithm to obtain the optimal flexure parameters. The proposed methods and algorithms are also useful for the analysis and development of other flexure parallel mechanisms.

scholarly journals Type Synthesis of 1T2R Parallel Mechanisms Using Structure Coupling-Reducing Method

2019 ◽  
Vol 32 (1) ◽  
Author(s):  
Haitao Liu ◽  
Ke Xu ◽  
Huiping Shen ◽  
Xianlei Shan ◽  
Tingli Yang
Keyword(s):  
Explicit Form ◽  
Parallel Mechanism ◽  
Analytic Solutions ◽  
Forward Kinematics ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Real Time Control ◽  
Time Control ◽  
Topological Characteristics ◽  
Zero Coupling

Abstract Direct kinematics with analytic solutions is critical to the real-time control of parallel mechanisms. Therefore, the type synthesis of a mechanism having explicit form of forward kinematics has become a topic of interest. Based on this purpose, this paper deals with the type synthesis of 1T2R parallel mechanisms by investigating the topological structure coupling-reducing of the 3UPS&UP parallel mechanism. With the aid of the theory of mechanism topology, the analysis of the topological characteristics of the 3UPS&UP parallel mechanism is presented, which shows that there are highly coupled motions and constraints amongst the limbs of the mechanism. Three methods for structure coupling-reducing of the 3UPS&UP parallel mechanism are proposed, resulting in eight new types of 1T2R parallel mechanisms with one or zero coupling degree. One obtained parallel mechanism is taken as an example to demonstrate that a mechanism with zero coupling degree has an explicit form for forward kinematics. The process of type synthesis is in the order of permutation and combination; therefore, there are no omissions. This method is also applicable to other configurations, and novel topological structures having simple forward kinematics can be obtained from an original mechanism via this method.

scholarly journals Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains

2020 ◽  
Vol 33 (1) ◽  
Author(s):  
Fu-Qun Zhao ◽  
Sheng Guo ◽  
Hai-Jun Su ◽  
Hai-Bo Qu ◽  
Ya-Qiong Chen
Keyword(s):  
Parallel Mechanism ◽  
Parallel Mechanisms ◽  
Kinematic Chains ◽  
Assembly Method ◽  
Operation Modes ◽  
Object Based ◽  
Switch Operation ◽  
Storage Area ◽  
Mechanism Theory

Abstract As the structures of multiarm robots are serially arranged, the packaging and transportation of these robots are often inconvenient. The ability of these robots to operate objects must also be improved. Addressing this issue, this paper presents a type of multiarm robot that can be adequately folded into a designed area. The robot can achieve different operation modes by combining different arms and objects. First, deployable kinematic chains (DKCs) are designed, which can be folded into a designated area and be used as an arm structure in the multiarm robot mechanism. The strategy of a platform for storing DKCs is proposed. Based on the restrictions in the storage area and the characteristics of parallel mechanisms, a class of DKCs, called base assembly library, is obtained. Subsequently, an assembly method for the synthesis of the multiarm robot mechanism is proposed, which can be formed by the connection of a multiarm robot mechanism with an operation object based on a parallel mechanism structure. The formed parallel mechanism can achieve a reconfigurable characteristic when different DKCs connect to the operation object. Using this method, two types of multiarm robot mechanisms with four DKCs that can switch operation modes to perform different tasks through autonomous combination and release operation is proposed. The obtained mechanisms have observable advantages when compared with the traditional mechanisms, including optimizing the occupied volume during transportation and using parallel mechanism theory to analyze the switching of operation modes.

Discovery of five new Galactic symbiotic stars in the VPHAS+ survey

2021 ◽  
Vol 502 (2) ◽  
pp. 2513-2517
Author(s):  
Stavros Akras ◽  
Denise R Gonçalves ◽  
Alvaro Alvarez-Candal ◽  
Claudio B Pereira
Keyword(s):  
Spectroscopic Data ◽  
Selection Criterion ◽  
Optical Spectra ◽  
Emission Lines ◽  
High Rate ◽  
Symbiotic Stars ◽  
Selection Of

ABSTRACT We report the validation of a recently proposed infrared (IR) selection criterion for symbiotic stars (SySts). Spectroscopic data were obtained for seven candidates, selected from the SySt candidates of Akras et al. by employing the new supplementary IR selection criterion for SySts in the VST/OmegaCAM Photometric H-Alpha Survey. Five of them turned out to be genuine SySts after the detection of H α, He ii, and [O iii] emission lines as well as TiO molecular bands. The characteristic O vi Raman-scattered line is also detected in one of these SySts. According to their IR colours and optical spectra, all five newly discovered SySts are classified as S-type. The high rate of true SySts detections of this work demonstrates that the combination of the H α emission and the new IR criterion improves the selection of target lists for follow-up observations by minimizing the number of contaminants and optimizing the observing time.

scholarly journals Constraint and Mobility Change Analysis of Rubik’s Cube-inspired Reconfigurable Joints and Corresponding Parallel Mechanisms

2020 ◽  
Vol 33 (1) ◽  
Author(s):  
Duanling Li ◽  
Pu Jia ◽  
Jiazhou Li ◽  
Dan Zhang ◽  
Xianwen Kong
Keyword(s):  
Parallel Mechanism ◽  
Unique Feature ◽  
Theoretical Method ◽  
Geometric Constraint ◽  
Parallel Mechanisms ◽  
Change Analysis ◽  
Application Range ◽  
And Topology ◽  
Physical Experiments ◽  
Underlying Principle

Abstract The current research of reconfigurable parallel mechanism mainly focuses on the construction of reconfigurable joints. Compared with the method of changing the mobility by physical locking joints, the geometric constraint has good controllability, and the constructed parallel mechanism has more configurations and wider application range. This paper presents a reconfigurable axis (rA) joint inspired and evolved from Rubik's Cubes, which have a unique feature of geometric and physical constraint of axes of joint. The effectiveness of the rA joint in the construction of the limb is analyzed, resulting in a change in mobility and topology of the parallel mechanism. The rA joint makes the angle among the three axes inside the groove changed arbitrarily. This change in mobility is completed by the case illustrated by a 3(rA)P(rA) reconfigurable parallel mechanism having variable mobility from 1 to 6 and having various special configurations including pure translations, pure rotations. The underlying principle of the metamorphosis of this rA joint is shown by investigating the dependence of the corresponding screw system comprising of line vectors, leading to evolution of the rA joint from two types of spherical joints to three types of variable Hooke joints and one revolute joint. The reconfigurable parallel mechanism alters its topology by rotating or locking the axis of rA joint to turn all limbs into different phases. The prototype of reconfigurable parallel mechanism is manufactured and all configurations are enumerated to verify the validity of the theoretical method by physical experiments.

scholarly journals Dynamic response analysis for multi-degrees-of-freedom parallel mechanisms with various types of three-dimensional clearance joints

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110177
Author(s):  
Jia Yonghao ◽  
Chen Xiulong
Keyword(s):  
Dynamic Response ◽  
Multibody Systems ◽  
Parallel Mechanism ◽  
Three Dimensional ◽  
Response Analysis ◽  
Parallel Mechanisms ◽  
Dynamics Model ◽  
Clearance Joints ◽  
Clearance Joint ◽  
Spatial Parallel Mechanism

For spatial multibody systems, the dynamic equations of multibody systems with compound clearance joints have a high level of nonlinearity. The coupling between different types of clearance joints may lead to abundant dynamic behavior. At present, the dynamic response analysis of the spatial parallel mechanism considering the three-dimensional (3D) compound clearance joint has not been reported. This work proposes a modeling method to investigate the influence of the 3D compound clearance joint on the dynamics characteristics of the spatial parallel mechanism. For this purpose, 3D kinematic models of spherical clearance joint and revolute joint with radial and axial clearances are derived. Contact force is described as normal contact and tangential friction and later introduced into the nonlinear dynamics model, which is established by the Lagrange multiplier technique and Jacobian of constraint matrix. The influences of compound clearance joint and initial misalignment of bearing axes on the system are analyzed. Furthermore, validation of dynamics model is evaluated by ADAMS and Newton–Euler method. This work provides an essential theoretical basis for studying the influences of 3D clearance joints on dynamic responses and nonlinear behavior of parallel mechanisms.

scholarly journals Improved selection of participants in genetic longevity studies: family scores revisited

2021 ◽  
Vol 21 (1) ◽  
Author(s):  
Mar Rodríguez-Girondo ◽  
Niels van den Berg ◽  
Michel H. Hof ◽  
Marian Beekman ◽  
Eline Slagboom
Keyword(s):  
Missing Data ◽  
The Netherlands ◽  
Family Size ◽  
Simulation Study ◽  
Missing Values ◽  
Selection Criterion ◽  
Limited Success ◽  
Main Challenge ◽  
Historical Sample ◽  
Selection Of

Abstract Background Although human longevity tends to cluster within families, genetic studies on longevity have had limited success in identifying longevity loci. One of the main causes of this limited success is the selection of participants. Studies generally include sporadically long-lived individuals, i.e. individuals with the longevity phenotype but without a genetic predisposition for longevity. The inclusion of these individuals causes phenotype heterogeneity which results in power reduction and bias. A way to avoid sporadically long-lived individuals and reduce sample heterogeneity is to include family history of longevity as selection criterion using a longevity family score. A main challenge when developing family scores are the large differences in family size, because of real differences in sibship sizes or because of missing data. Methods We discussed the statistical properties of two existing longevity family scores: the Family Longevity Selection Score (FLoSS) and the Longevity Relatives Count (LRC) score and we evaluated their performance dealing with differential family size. We proposed a new longevity family score, the mLRC score, an extension of the LRC based on random effects modeling, which is robust for family size and missing values. The performance of the new mLRC as selection tool was evaluated in an intensive simulation study and illustrated in a large real dataset, the Historical Sample of the Netherlands (HSN). Results Empirical scores such as the FLOSS and LRC cannot properly deal with differential family size and missing data. Our simulation study showed that mLRC is not affected by family size and provides more accurate selections of long-lived families. The analysis of 1105 sibships of the Historical Sample of the Netherlands showed that the selection of long-lived individuals based on the mLRC score predicts excess survival in the validation set better than the selection based on the LRC score . Conclusions Model-based score systems such as the mLRC score help to reduce heterogeneity in the selection of long-lived families. The power of future studies into the genetics of longevity can likely be improved and their bias reduced, by selecting long-lived cases using the mLRC.

Wrench Capability Analysis of Cable-Driven Parallel Mechanisms

2011 ◽  
Author(s):  
Yu Zou ◽  
Yuru Zhang
Keyword(s):  
Hybrid Method ◽  
Parallel Mechanism ◽  
Parallel Mechanisms ◽  
Computationally Efficient ◽  
Capability Analysis

The maximum wrench capabilities of the cable-driven parallel mechanisms are investigated in this paper. Focusing on accuracy and efficiency, two methods, an optimization-based method and a hybrid method based on optimization and geometry, are presented for determining the wrench capability of the cable-driven parallel mechanisms. Both methods are applied to a 6-DOF cable-driven parallel mechanism with eight cables to compute the maximum isotropic force and maximum isotropic moment. Comparison of the two methods is made. The results show that the hybrid method proposed is more accurate and computationally efficient.

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