scholarly journals A Novel 4-DOF Parallel Manipulator H4

10.5772/5441 ◽  
2008 ◽  
Author(s):  
Jinbo Wu ◽  
Zhouping Yi
Keyword(s):  
Parallel Manipulator

Dynamic modeling and power optimization of a 4RPSP+PS parallel flight simulator machine

Robotica ◽  
2021 ◽  
pp. 1-26
Author(s):  
Soheil Zarkandi
Keyword(s):  
Power Consumption ◽  
Dynamic Modeling ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Pareto Front ◽  
Essential Role ◽  
Power Optimization ◽  
Optimal Designs ◽  
Flight Simulator ◽  
Lagrange Method

Abstract Reducing consumed power of a robotic machine has an essential role in enhancing its energy efficiency and must be considered during its design process. This paper deals with dynamic modeling and power optimization of a four-degrees-of-freedom flight simulator machine. Simulator cabin of the machine has yaw, pitch, roll and heave motions produced by a 4RPSP+PS parallel manipulator (PM). Using the Euler–Lagrange method, a closed-form dynamic equation is derived for the 4RPSP+PS PM, and its power consumption is computed on the entire workspace. Then, a newly introduced optimization algorithm called multiobjective golden eagle optimizer is utilized to establish a Pareto front of optimal designs of the manipulator having a relatively larger workspace and lower power consumption. The results are verified through numerical examples.

Performance evaluation of a special 6-PUS type parallel manipulator

Robotica ◽  
2021 ◽  
pp. 1-15
Author(s):  
Xiaochu Liu ◽  
Yunfei Cai ◽  
Weitian Liu ◽  
Linlong Zhang ◽  
Chengxin Hu
Keyword(s):  
Performance Evaluation ◽  
Natural Frequency ◽  
Parallel Manipulator ◽  
Screw Theory ◽  
Shaking Table ◽  
Axial Stiffness ◽  
Neutral Position ◽  
Dynamics Model ◽  
Force Transmissibility ◽  
Kane Method

Abstract In this paper, a special 6-PUS parallel manipulator (PM) is utilized as a shaking table. Unlike the existing results about 6-PUS PMs, we make the actuator direction collinear with the linkage direction at neutral position. With respect to the application background, a further analysis of the special PM is carried out from the perspective of motion/force transmissibility, natural frequency and acceleration capability. Specially, the complete dynamics model is established based on the Kane method. Then, generalized transmission indices based on the screw theory are utilized to reflect its motion ability, and a model of natural frequency is proposed with the axial stiffness of linkages considered. Finally, the effect of the angle between the actuator direction and the linkage direction α on various performances is analyzed, and other results are included to illustrate its feasibility and usability.

Stiffness analysis of a planar parallel manipulator with variable platforms

2021 ◽  
pp. 1-18
Author(s):  
Xiaoyong Wu ◽  
Yujin Wang ◽  
Zhaowei Xiang ◽  
Ran Yan ◽  
Rulong Tan ◽  
...  
Keyword(s):  
Parallel Manipulator ◽  
Stiffness Analysis ◽  
Planar Parallel Manipulator

Task-based torque minimization of a 3-PṞR spherical parallel manipulator

Robotica ◽  
2021 ◽  
pp. 1-30
Author(s):  
Soheil Zarkandi
Keyword(s):  
Closed Form ◽  
Dynamic Modeling ◽  
Dynamic Equation ◽  
Parallel Manipulator ◽  
Optimization Problem ◽  
Dynamic Constraints ◽  
Part C ◽  
Euler Approach ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

Abstract A comprehensive dynamic modeling and actuator torque minimization of a new symmetrical three-degree-of-freedom (3-DOF) 3-PṞR spherical parallel manipulator (SPM) is presented. Three actuating systems, each of which composed of an electromotor, a gearbox and a double Rzeppa-type driveshaft, produce input torques of the manipulator. Kinematics of the 3-PṞR SPM was recently studied by the author (Zarkandi, Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci. 2020, https://doi.org/10.1177%2F0954406220938806). In this paper, a closed-form dynamic equation of the manipulator is derived with the Newton–Euler approach. Then, an optimization problem with kinematic and dynamic constraints is presented to minimize torques of the actuators for implementing a given task. The results are also verified by the SimMechanics model of the manipulator.

Integrated Kinematic Calibration for All the Parameters of a Planar 2DOF Redundantly Actuated Parallel Manipulator

2009 ◽  
Vol 1 (3) ◽  
Author(s):  
Chunshi Feng ◽  
Shuang Cong ◽  
Weiwei Shang
Keyword(s):  
Parallel Manipulator ◽  
Closed Loop ◽  
Open Loop ◽  
Kinematic Calibration ◽  
Constraint Equations ◽  
Integrated Method ◽  
Uniqueness Of The Solution ◽  
Redundantly Actuated ◽  
Loop Constraint ◽  
Two Degree Of Freedom

In this paper, the kinematic calibration of a planar two-degree-of-freedom redundantly actuated parallel manipulator is studied without any assumption on parameters. A cost function based on closed-loop constraint equations is first formulated. Using plane geometry theory, we analyze the pose transformations that bring infinite solutions and present a kinematic calibration integrated of closed-loop and open-loop methods. In the integrated method, the closed-loop calibration solves all the solutions that fit the constraint equations, and the open-loop calibration guarantees the uniqueness of the solution. In the experiments, differential evolution is applied to compute the solution set, for its advantages in computing multi-optima. Experimental results show that all the parameters involved are calibrated with high accuracy.

Optimal design of a redundant spherical parallel manipulator

Robotica ◽  
1997 ◽  
Vol 15 (4) ◽  
pp. 399-405 ◽  
Author(s):  
Sylvie Leguay-Durand ◽  
Claude Reboulet
Keyword(s):  
Optimal Design ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Structure Optimization ◽  
Kinematic Design ◽  
Spherical Wrist ◽  
Redundant Structure ◽  
Spherical Parallel Manipulator

A new kinematic design of a parallel spherical wrist with actuator redundancy is presented. A special feature of this parallel manipulator is the arrangement of co-axial actuators which allows unlimited rotation about any axis inside a cone-shaped workspace. A detailed kinematic analysis has shown that actuator redundancy not only removes singularities but also increases workspace while improving dexterity. The structure optimization has been performed with a global dexterity criterion. Using a conditioning measure, a comparison with a non-redundant structure of the same type was performed and shows that a significant improvement in dexterity has been obtained.

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