scholarly journals LMF Algorithm Based on Hyper-Chaos for the Solving of Forward Displacement in a Parallel Robot Mechanism

10.5772/54817 ◽  
2013 ◽  
Vol 10 (1) ◽  
pp. 31 ◽  
Author(s):  
Youxin Luo ◽  
Qiyuan Liu ◽  
Xiaoyi Che ◽  
ZheMing He
Keyword(s):  
Parallel Robot ◽  
Forward Displacement ◽  
Lmf Algorithm

A Novel 3-DOF Parallel Robot and its Kinematic Analysis

2014 ◽  
Vol 607 ◽  
pp. 759-763
Author(s):  
Xiao Bo Liu ◽  
Xiao Dong Yuan ◽  
Xiao Feng Wei ◽  
Wei Ni
Keyword(s):  
Motion Control ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
The Novel ◽  
Forward Displacement ◽  
Simulation Based ◽  
Simulation Results

This paper deals with the design and analysis of a novel and simple two-translation and one-rotation (3 degrees of freedom, 3-dof) mechanism for alignment. Firstly, degree of freedom of the parallel robot is solved based on the theory of screw. Secondly considering the demand of motion control, we have conducted the analysis on the 3-dof parallel robot, which includes inverse displacement, forward displacement, and simulation based on SolidWorks Motion. The simulation results indicate that the novel 3-dof robot is suitable for performing the required operations.

scholarly journals A Novel Three-Loop Parallel Robot With Full Mobility: Kinematics, Singularity, Workspace, and Dexterity Analysis

2017 ◽  
Vol 9 (5) ◽  
Author(s):  
Wei Li ◽  
Jorge Angeles
Keyword(s):  
High Speed ◽  
Screw Theory ◽  
Parallel Robot ◽  
Simple Expression ◽  
Parallel Robots ◽  
Forward Displacement ◽  
Design Variables ◽  
The Subject ◽  
Stewart Gough Platform ◽  
The Given

A novel parallel robot, dubbed the SDelta, is the subject of this paper. SDelta is a simpler alternative to both the well-known Stewart–Gough platform (SGP) and current three-limb, full-mobility parallel robots, as it contains fewer components and all its motors are located on the base. This reduces the inertial load on the system, making it a good candidate for high-speed operations. SDelta features a symmetric structure; its forward-displacement analysis leads to a system of three quadratic equations in three unknowns, which admits up to eight solutions, or half the number of those admitted by the SGP. The kinematic analysis, undertaken with a geometrical method based on screw theory, leads to two Jacobian matrices, whose singularity conditions are investigated. Instead of using the determinant of a 6 × 6 matrix, we derive one simple expression that characterizes the singularity condition. This approach is also applicable to a large number of parallel robots whose six actuation wrench axes intersect pairwise, such as all three-limb parallel robots whose limbs include, each, a passive spherical joint. The workspace is analyzed via a geometric method, while the dexterity analysis is conducted via discretization. Both show that the given robot has the potential to offer both large workspace and good dexterity with a proper choice of design variables.

Displacement Analysis of the 4SPS-2CCS Mechanism Based on Hyper-Chaotic Newton-Downhill Method

2011 ◽  
Vol 230-232 ◽  
pp. 733-737
Author(s):  
You Xin Luo ◽  
Xiao Yi Che ◽  
Bin Zeng
Keyword(s):  
Mathematical Model ◽  
Real Number ◽  
Matrix Method ◽  
Parallel Mechanism ◽  
Parallel Robot ◽  
Number Range ◽  
Forward Displacement ◽  
Displacement Analysis ◽  
Henon Mapping ◽  
Solutions Of Equations

The forward displacement analysis of parallel mechanism is attributed to find the solutions of complicated nonlinear equations and it is a very difficult process. Taking chaotic sequences as the initial values of Newton-downhill method, we can find all the solutions of equations quickly. Based on utilizing hyper-chaotic Hénon mapping to obtain initial points, a new method of finding all real number solutions of the nonlinear questions is proposed. Using cosine matrix method, the author established the mathematical model of forward displacement for the generalized 4SPS-2CCS parallel robot mechanism and a numerical example is given. Compared to the quaternion method building mathematical model, the result shows cosine matrix method building mathematical model and hyper-chaotic Newton-downhill method finding solution is brief and high calculation efficiency as the calculation is done in real number range. The proposed method has universality which can be used in forward displacement of other parallel mechanism.

Forward Displacement Analysis of the 4SPS-2CCS Generalized Stewart Parallel Robot Mechanism Based on Hyper-Chaotic Sequences

2011 ◽  
Vol 230-232 ◽  
pp. 728-732
Author(s):  
You Xin Luo ◽  
Xiao Yi Che ◽  
Bin Zeng
Keyword(s):  
Nonlinear Equations ◽  
Parallel Mechanism ◽  
Initial Point ◽  
Parallel Robot ◽  
Forward Displacement ◽  
Displacement Analysis ◽  
Chaotic Sequences ◽  
Calculation Step ◽  
Solutions Of Equations ◽  
Forward Displacement Analysis

The forward displacement analysis of parallel mechanism is attributed to find the solution of complex nonlinear equations which is a very difficult process. Take chaotic sequences as the initial value of Newton iterative method, we can find all the solutions of equations quickly. The paper investigated the initial point generated by hyper-chaotic circuit system and provided a new method and calculation step of finding the all real number solutions of nonlinear equations. Using quaternion, the mathematical model of forward displacement for the generalized 4SPS-2CCS Stewart parallel robot mechanism was established and an example was given. Compared to the topological continuations method the result shows the calculation is brief and general. It can be used in forward displacement of other parallel mechanism. The research builds the theory basis for dimensional design, trajectory planning and controlling of this type of manipulator.

Displacement Analysis of the 3SPS-3CCS Mechanism Based on Hyper-Chaotic Newton-Downhill Method

2011 ◽  
Vol 467-469 ◽  
pp. 401-406 ◽  
Author(s):  
You Xin Luo ◽  
Xiao Yi Che ◽  
Bin Zeng
Keyword(s):  
Mathematical Model ◽  
Real Number ◽  
Matrix Method ◽  
Parallel Mechanism ◽  
Parallel Robot ◽  
Number Range ◽  
Forward Displacement ◽  
Displacement Analysis ◽  
Chaotic Sequences ◽  
Chaos System

The forward displacement analysis of parallel mechanism is attributed to find the solutions of complicated nonlinear equations and it is a very difficult process. Taking chaotic sequences as the initial values of Newton-downhill method, we can find all the solutions of equations quickly. Making use of existing chaos system and discovering new chaos system to generate chaotic sequences with good properties is the key to the Newton-downhill method based on Chaos sequences. Based on utilizing hyper-chaotic Hénon mapping to obtain initial points, a new method of finding all real number solutions of the nonlinear questions is proposed. Using cosine matrix method, the author established the mathematical model of forward displacement for the generalized 3SPS-3CCS parallel robot mechanism and a numerical example is given. Compared to the quaternion method building mathematical model, the result shows cosine matrix method building mathematical model and hyper-chaotic Newton-downhill method finding solution is brief and high calculation efficiency as the calculation is done in real number range. The proposed method has universality which can be used in forward displacement of other parallel mechanism.

Forward Displacement Analysis of the 4SPS-2CCS Generalized Stewart Parallel Robot Mechanism Based on Hyper-Chaotic Damp Least Square Method

2011 ◽  
Vol 230-232 ◽  
pp. 738-742
Author(s):  
You Xin Luo ◽  
Bin Zeng ◽  
Xiao Yi Che
Keyword(s):  
Nonlinear Equations ◽  
Parallel Mechanism ◽  
Least Square Method ◽  
Parallel Robot ◽  
Least Square ◽  
Forward Displacement ◽  
Displacement Analysis ◽  
Calculation Step ◽  
Solutions Of Equations ◽  
Forward Displacement Analysis

The forward displacement analysis of parallel mechanism is attributed to find the solution of complex nonlinear equations which is a very difficult process. Taking chaotic sequences as the initial values of the damp least square method, we can find all the solutions of equations quickly. The paper investigated the initial points generated by hyper-chaotic Hénon mapping and provided a new method and calculation step of finding the all real number solutions of nonlinear equations. Using quaternion, the mathematical model of forward displacement for the generalized 4SPS-2CCS Stewart parallel robot mechanism was established and an example was given. Example showed the calculation is brief and general. It can be used in forward displacement of other parallel mechanism. The research builds the theory basis for dimensional design, trajectory planning and controlling of this type of manipulator.

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