scholarly journals Unified Pose Parametrization for 1T2R Parallel Manipulators

2018 ◽  
pp. 57-68
Author(s):  
Yuanqing Wu ◽  
Marco Carricato
Keyword(s):  
Parallel Manipulators

scholarly journals Position-based motion control for parallel manipulators under parametric uncertainties and with finite-time external disturbance rejection

2020 ◽  
Vol 53 (2) ◽  
pp. 8456-8461
Author(s):  
Dmitrii Dobriborsci ◽  
Sergey Kolyubin ◽  
Natalia Gorokhova ◽  
Marina Korotina ◽  
Alexey Bobtsov
Keyword(s):  
Motion Control ◽  
Finite Time ◽  
Disturbance Rejection ◽  
External Disturbance ◽  
Parallel Manipulators ◽  
Parametric Uncertainties

scholarly journals A Two-Stage Mono- and Multi-Objective Method for the Optimization of General UPS Parallel Manipulators

Mathematics ◽  
2021 ◽  
Vol 9 (5) ◽  
pp. 543
Author(s):  
Alejandra Ríos ◽  
Eusebio E. Hernández ◽  
S. Ivvan Valdez
Keyword(s):  
Genetic Algorithm ◽  
Performance Metrics ◽  
Tracking Error ◽  
Parallel Manipulators ◽  
Optimization Method ◽  
Statistical Hypothesis ◽  
Two Stage ◽  
Multi Objective ◽  
Second Stage ◽  
Conflicting Objectives

This paper introduces a two-stage method based on bio-inspired algorithms for the design optimization of a class of general Stewart platforms. The first stage performs a mono-objective optimization in order to reach, with sufficient dexterity, a regular target workspace while minimizing the elements’ lengths. For this optimization problem, we compare three bio-inspired algorithms: the Genetic Algorithm (GA), the Particle Swarm Optimization (PSO), and the Boltzman Univariate Marginal Distribution Algorithm (BUMDA). The second stage looks for the most suitable gains of a Proportional Integral Derivative (PID) control via the minimization of two conflicting objectives: one based on energy consumption and the tracking error of a target trajectory. To this effect, we compare two multi-objective algorithms: the Multiobjective Evolutionary Algorithm based on Decomposition (MOEA/D) and Non-dominated Sorting Genetic Algorithm-III (NSGA-III). The main contributions lie in the optimization model, the proposal of a two-stage optimization method, and the findings of the performance of different bio-inspired algorithms for each stage. Furthermore, we show optimized designs delivered by the proposed method and provide directions for the best-performing algorithms through performance metrics and statistical hypothesis tests.

scholarly journals On one approach to the approximation of solutions to the direct kinematics problem of parallel manipulators

2020 ◽  
Vol 10 (1) ◽  
pp. 65-70
Author(s):  
Andrei Gorchakov ◽  
Vyacheslav Mozolenko
Keyword(s):  
Neural Network ◽  
Bounded Function ◽  
Parallel Manipulators ◽  
Feedforward Neural Network ◽  
Numerical Implementation ◽  
Continuous Bounded Function ◽  
Space Filling ◽  
Space Filling Curves ◽  
Direct Kinematics

AbstractAny real continuous bounded function of many variables is representable as a superposition of functions of one variable and addition. Depending on the type of superposition, the requirements for the functions of one variable differ. The article investigated one of the options for the numerical implementation of such a superposition proposed by Sprecher. The superposition was presented as a three-layer Feedforward neural network, while the functions of the first’s layer were considered as a generator of space-filling curves (Peano curves). The resulting neural network was applied to the problems of direct kinematics of parallel manipulators.

Determination of the Workspace of a Three-Degrees-of-Freedom Parallel Manipulator Using a Three-Dimensional Computer-Aided-Design Software Package and the Concept of Virtual Chains1

2015 ◽  
Vol 8 (2) ◽  
Author(s):  
Andrew Johnson ◽  
Xianwen Kong ◽  
James Ritchie
Keyword(s):  
Computer Aided Design ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Graphical Representation ◽  
Three Dimensional ◽  
Parallel Manipulators ◽  
Workspace Analysis ◽  
Computer Aided ◽  
Aided Design

The determination of workspace is an essential step in the development of parallel manipulators. By extending the virtual-chain (VC) approach to the type synthesis of parallel manipulators, this technical brief proposes a VC approach to the workspace analysis of parallel manipulators. This method is first outlined before being illustrated by the production of a three-dimensional (3D) computer-aided-design (CAD) model of a 3-RPS parallel manipulator and evaluating it for the workspace of the manipulator. Here, R, P and S denote revolute, prismatic and spherical joints respectively. The VC represents the motion capability of moving platform of a manipulator and is shown to be very useful in the production of a graphical representation of the workspace. Using this approach, the link interferences and certain transmission indices can be easily taken into consideration in determining the workspace of a parallel manipulator.

Zeroing dynamics based motion control scheme for parallel manipulators

2017 ◽  
Vol 53 (2) ◽  
pp. 74-75 ◽  
Author(s):  
Yunong Zhang ◽  
Liangyu He ◽  
Shuai Li ◽  
Dechao Chen ◽  
Yaqiong Ding
Keyword(s):  
Motion Control ◽  
Parallel Manipulators ◽  
Control Scheme

Structure Synthesis of 3-RRS Type Spatial Compliant Parallel Manipulator

2010 ◽  
Vol 44-47 ◽  
pp. 1375-1379
Author(s):  
Da Chang Zhu ◽  
Li Meng ◽  
Tao Jiang
Keyword(s):  
Parallel Manipulator ◽  
Compliant Mechanisms ◽  
Screw Theory ◽  
Weight Ratio ◽  
Parallel Manipulators ◽  
Robot System ◽  
New Approach ◽  
Structure Synthesis ◽  
Rigid Joints ◽  
Type 3

Parallel manipulators has been extensively studied by virtues or its high force-to-weight ratio and widely spread applications such as vehicle or flight simulator, a machine tool and the end effector of robot system. However, as each limb includes several rigid joints, assembling error is demanded strictly, especially in precision measurement and micro-electronics. On the other hand, compliant mechanisms take advantage of recoverable deformation to transfer or transform motion, force, or energy and the benefits of compliant mechanisms mainly come from the elimination of traditional rigid joints, but the traditional displacement method reduce the stiffness of spatial compliant parallel manipulators. In this paper, a new approach of structure synthesis of 3-DoF rotational compliant parallel manipulators is proposed. Based on screw theory, the structures of RRS type 3-DoF rotational spatial compliant parallel manipulator are developed. Experiments via ANSYS are conducted to give some validation of the theoretical analysis.

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