Reconfiguration and Actuation Scheme of 3rTPS Metamorphic Parallel Mechanisms with Parallel Constraint Screws

2012 ◽  
pp. 259-268
Author(s):  
Dongming Gan ◽  
Jian S. Dai ◽  
Jorge Dias ◽  
Lakmal Seneviratne
Keyword(s):  
Parallel Mechanisms ◽  
Actuation Scheme

Sliding Mode Set-Point Control of a Three-DOF Cable-Suspended Parallel Robot With Uncertain Mass and Disturbances

2019 ◽  
Author(s):  
Ping Ren ◽  
Xu Sheng
Keyword(s):  
Sliding Mode ◽  
Sufficient Conditions ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Parallel Mechanisms ◽  
Set Point ◽  
Point Motion ◽  
Actuation Scheme ◽  
Three Degree Of Freedom ◽  
The Relationship

Abstract Cable-Suspended Parallel Robots (CSPRs) utilize winches and cables as the actuation scheme instead of rigid links, which renders them advantages of both parallel mechanisms and cable mechanisms. In this paper, a robust sliding mode controller was designed for a three-degree-of-freedom CSPR with uncertain end-effector mass and external disturbances. To control the motions of CSPRs is usually challenging due to the unidirectional constraints of cable tensions. Based on interval analysis, a set of analytical inequalities is obtained which establish the relationship between the cables’ tension constraints and the controller parameters. The sufficient conditions of the controller parameters satisfying the constraints are obtained for the set-point motion subject to uncertainties. Numerical simulations are presented to verify the effectiveness of the proposed approach.

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.

scholarly journals A New Method for Type Synthesis of 2R1T and 2T1R 3-DOF Redundant Actuated Parallel Mechanisms with Closed Loop Units

2020 ◽  
Vol 33 (1) ◽  
Author(s):  
Yongquan Li ◽  
Yang Zhang ◽  
Lijie Zhang
Keyword(s):  
Closed Loop ◽  
Screw Theory ◽  
Line Graph ◽  
Degree Of Freedom ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Allocation Criteria ◽  
Grassmann Line Geometry ◽  
Moving Platform ◽  
Atlas Method

Abstract The current type synthesis of the redundant actuated parallel mechanisms is adding active-actuated kinematic branches on the basis of the traditional parallel mechanisms, or using screw theory to perform multiple getting intersection and union to complete type synthesis. The number of redundant parallel mechanisms obtained by these two methods is limited. In this paper, based on Grassmann line geometry and Atlas method, a novel and effective method for type synthesis of redundant actuated parallel mechanisms (PMs) with closed-loop units is proposed. Firstly, the degree of freedom (DOF) and constraint line graph of the moving platform are determined successively, and redundant lines are added in constraint line graph to obtain the redundant constraint line graph and their equivalent line graph, and a branch constraint allocation scheme is formulated based on the allocation criteria. Secondly, a scheme is selected and redundant lines are added in the branch chains DOF graph to construct the redundant actuated branch chains with closed-loop units. Finally, the branch chains that meet the requirements of branch chains configuration criteria and F&C (degree of freedom & constraint) line graph are assembled. In this paper, two types of 2 rotational and 1 translational (2R1T) redundant actuated parallel mechanisms and one type of 2 translational and 1 rotational (2T1R) redundant actuated parallel mechanisms with few branches and closed-loop units were taken as examples, and 238, 92 and 15 new configurations were synthesized. All the mechanisms contain closed-loop units, and the mechanisms and the actuators both have good symmetry. Therefore, all the mechanisms have excellent comprehensive performance, in which the two rotational DOFs of the moving platform of 2R1T redundant actuated parallel mechanism can be independently controlled. The instantaneous analysis shows that all mechanisms are not instantaneous, which proves the feasibility and practicability of the method.

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.

Analytic Determination of Wrench Closure Workspace of Spatial Cable Driven Parallel Mechanisms

2015 ◽  
Author(s):  
Zhiyu Sheng ◽  
Joon-Hyuk Park ◽  
Paul Stegall ◽  
Sunil K. Agrawal
Keyword(s):  
Simulation Study ◽  
Null Space ◽  
Boundary Surface ◽  
Parallel Mechanisms ◽  
Analytic Determination ◽  
Structure Matrix ◽  
Feasible Solutions

This paper proposes an efficient way of determining analytically the Wrench Closure Workspace (WCW) of spatial redundant cable-driven parallel mechanisms (CDPM). The method builds upon the boundary surface equations obtained from the null space of the structure matrix of CDPM. The set of feasible solutions is obtained that satisfies positive tension in the cables. This method was applied to characterize the WCW of spatial CDPM which has redundancy of 1 or 2. A simulation study was carried out to validate the accuracy and efficiency of the method. Several advantages over conventional approaches for determining the WCW were identified through simulation.

scholarly journals RecQL5 Promotes Genome Stabilization through Two Parallel Mechanisms—Interacting with RNA Polymerase II and Acting as a Helicase

2010 ◽  
Vol 30 (10) ◽  
pp. 2460-2472 ◽  
Author(s):  
M. Nurul Islam ◽  
David Fox ◽  
Rong Guo ◽  
Takemi Enomoto ◽  
Weidong Wang
Keyword(s):  
Rna Polymerase ◽  
Rna Polymerase Ii ◽  
Genome Stability ◽  
Transcriptional Regulators ◽  
Helicase Activity ◽  
Parallel Mechanisms ◽  
Recq Helicase ◽  
Pol Ii ◽  
Kix Domain ◽  
Genome Stabilization

ABSTRACT The RecQL5 helicase is essential for maintaining genome stability and reducing cancer risk. To elucidate its mechanism of action, we purified a RecQL5-associated complex and identified its major component as RNA polymerase II (Pol II). Bioinformatics and structural modeling-guided mutagenesis revealed two conserved regions in RecQL5 as KIX and SRI domains, already known in transcriptional regulators for Pol II. The RecQL5-KIX domain binds both initiation (Pol IIa) and elongation (Pol IIo) forms of the polymerase, whereas the RecQL5-SRI domain interacts only with the elongation form. Fully functional RecQL5 requires both helicase activity and associations with the initiation polymerase, because mutants lacking either activity are partially defective in the suppression of sister chromatid exchange and resistance to camptothecin-induced DNA damage, and mutants lacking both activities are completely defective. We propose that RecQL5 promotes genome stabilization through two parallel mechanisms: by participation in homologous recombination-dependent DNA repair as a RecQ helicase and by regulating the initiation of Pol II to reduce transcription-associated replication impairment and recombination.

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.

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