Workspace Analysis of Cable Parallel Manipulator for Side Net Cleaning of Deep Sea Fishing Ground

2019 ◽  
pp. 149-160
Author(s):  
Liping Wang ◽  
Haisheng Li ◽  
Zhufeng Shao ◽  
Zhaokun Zhang ◽  
Fazhong Peng
Keyword(s):  
Deep Sea ◽  
Parallel Manipulator ◽  
Fishing Ground ◽  
Workspace Analysis

ORIENTATION OPTIMIZATION OF CABLE-DRIVEN PARALLEL MANIPULATOR FOR CLEANING THE DEEP SEA FISHING GROUND

2020 ◽  
Vol 35 (5) ◽  
Author(s):  
Zhufeng Shao ◽  
Haisheng Li ◽  
Liping Wang ◽  
Zhaokun Zhang ◽  
Rui Yao ◽  
...  
Keyword(s):  
Deep Sea ◽  
Parallel Manipulator ◽  
Fishing Ground ◽  
Orientation Optimization

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.

Combined Criterion for Ship Position Optimization in Cable Based Parallel Manipulators

2015 ◽  
Vol 736 ◽  
pp. 211-217
Author(s):  
Asim Ghaffar ◽  
Mahir Hassan
Keyword(s):  
Deep Sea ◽  
Parallel Manipulator ◽  
Parallel Manipulators

In this study, ship position optimization is conducted on a cable-driven parallel manipulator (CPM) operating inside deep sea. The workspace and stiffness of the manipulator is analysed as well as cable tensions after failure are reported and a combined criterion of ship position optimization has been established. Based on the criterion, the CPM will have maximum workspace and stiffness as well as minimum cable tensions in case of a failure. The optimization is demonstrated with six, eight and ten ships CPMs. The performance of the system is improved with higher number of cables in a CPM.

Position, Jacobian and workspace analysis of a 3-PSP spatial parallel manipulator

2013 ◽  
Vol 29 (4) ◽  
pp. 158-173 ◽  
Author(s):  
Amir Rezaei ◽  
Alireza Akbarzadeh ◽  
Payam Mahmoodi Nia ◽  
Mohammad-R. Akbarzadeh-T
Keyword(s):  
Parallel Manipulator ◽  
Workspace Analysis

Workspace Analysis of Parallel Manipulator for Telemicromanipulation Systems

2001 ◽  
Vol 13 (5) ◽  
pp. 488-496 ◽  
Author(s):  
Noriaki Ando ◽  
◽  
Masahiro Ohta ◽  
Kohei Gonda ◽  
Hideki Hashimoto
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Parallel Mechanisms ◽  
Dual Systems ◽  
Position Accuracy ◽  
Control Scheme ◽  
Workspace Analysis ◽  
Manipulator Control ◽  
Vr Simulator

This paper describes the research results on telemicromanipulation systems for microlevel tasks. Because of its better manipulation precision, stiffness and speed characteristics, the parallel mechanism micromanipulator was chosen to compose our systems. First, the kinematic analysis of our original manipulator mechanism is performed. Then, the structure of our parallel manipulator, control scheme, and experimental results are shown. Position accuracy and device control characteristics are analyzed and the feasibility of the use of parallel mechanisms for micromanipulator is then discussed. A parallel manipulator motion is restricted by 3 factors: mechanical limits of the passive joints, collision between links and actuators limitations. Results of the numerical workspace analysis considering the above factors are shown. We are proposing the use of dual manipulators for implementing improved real manipulation systems. The first kinematics and workspace analysis of dual systems using the VR simulator are also shown.

Orientation Workspace Analysis of a Novel 3SPS+1PS Symmetrical Parallel Manipulator Based on Unit Quaternion

2011 ◽  
Vol 201-203 ◽  
pp. 1849-1853
Author(s):  
Jing Li Yu ◽  
Gang Cheng ◽  
Shuai Zhang ◽  
De Kun Zhang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Unit Quaternion ◽  
Structure Characteristics ◽  
Workspace Analysis ◽  
Moving Platform ◽  
Position And Orientation ◽  
4 Degrees Of Freedom ◽  
Orientation Workspace

For a novel 3SPS+1PS parallel manipulator with 4 degrees of freedom including three rotations and one translation, the formulae for solving the inverse kinematics equations are derived based on quaternion method. Unit quaternion is used to represent the position and orientation of moving platform, and the singularities caused by Euler angles are avoided. Combining the topological structure characteristics of the parallel manipulator, it only has three rotations when its moving platform is at a given translation position. Based on the inverse position/pose equations and the all the constraints of the parallel manipulator, the discrete algorithm for the orientation workspaces of 3SPS+1PS parallel manipulator where the moving platform is at some different given translation positions are designed. The research builds the theoretical basis for optimizing the orientation workspace with given position.

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