Experimental Study of Force Transmission in 4-DOF Parallel Manipulator and Its Educational Applications

2020 ◽  
pp. 162-169
Author(s):  
Pavel Laryushkin ◽  
Elizaveta Pukhova ◽  
Ksenia Erastova
Keyword(s):  
Experimental Study ◽  
Parallel Manipulator ◽  
Force Transmission ◽  
Educational Applications

Optimal Design of a 2-UPR-RPU Parallel Manipulator

2015 ◽  
Vol 137 (5) ◽  
Author(s):  
Feibo Wang ◽  
Qiaohong Chen ◽  
Qinchuan Li
Keyword(s):  
Optimal Design ◽  
Parallel Manipulator ◽  
Design Space ◽  
Parameter Design ◽  
Optimal Parameters ◽  
Force Transmission ◽  
Universal Joint ◽  
Practical Applications ◽  
Optimum Region ◽  
Dimensional Optimization

This paper investigates dimensional optimization of a 2-UPR-RPU parallel manipulator (where U is a universal joint, P a prismatic pair, and R a revolute pair). First, the kinematics and screws of the mechanism are analyzed. Then, three indices developed from motion/force transmission are proposed to evaluate the performance of the 2-UPR-RPU parallel manipulator. Based on the performance atlases obtained, a set of optimal parameters are selected from the optimum region within the parameter design space. Finally, the optimized parameters are determined for practical applications.

Experimental Study of Tire-Wheel-Suspension Dynamics in Rolling over Cleat and Abrupt Braking Conditions

2015 ◽  
Vol 43 (1) ◽  
pp. 42-71
Author(s):  
Yaoqun Zhou ◽  
Frank Gauterin ◽  
Hans-Joachim Unrau ◽  
Michael Frey
Keyword(s):  
Experimental Study ◽  
Test Bench ◽  
Dynamic Models ◽  
Force Transmission ◽  
Wheel Load ◽  
Transmission Potential ◽  
Braking System ◽  
Antilock Braking System ◽  
Transmitted Force ◽  
Suspension Dynamics

ABSTRACT The braking performance of recent vehicles is controlled by the interaction between the antilock braking system (ABS) and the transmitted force between road and tire. Because of tire and suspension elasticity, an abrupt braking or the ABS regulation initiates tire belt and wheel axle oscillations, which lead to a closed loop of acceleration and force transmission in the tire-wheel-suspension assembly in both translational and rotational directions. As a result, the oscillation of wheel slip and wheel load can influence the force transmission potential in the contact patch and thus the braking distance as well. The objective of the presented study is to investigate the influence of the tire-wheel-suspension dynamics on the force transmission potential between tire and road. To obtain acceleration and force dynamics in the tire-wheel-suspension assembly without inducing the influence from other vehicle components, a McPherson suspension was isolated from a real car and adapted to the inner drum test bench at the Karlsruhe Institute of Technology, Institute of Vehicle System Technology. After mounting different tires, measurements were carried out under various driving conditions. First, tire measurements with a measuring hub were done on the test bench to obtain both quasistatic characteristics and dynamic response in rolling over cleat. Second, different tire-wheel-suspension assemblies were driven on the test bench while the wheel brake was initiated by a hydraulic braking system based on a modified ESP control unit. This modified unit allows generation of abrupt braking pressure slopes by a direct control of the valves. The accelerations of different wheel-suspension components and forces in the links were measured. In this article, the experimental study of the dynamics of a run-flat and a standard tire and their respective coupled assembly with the suspension excited by rolling over cleat and abrupt braking is presented. After a description of the experimental setup, the results of tire-wheel-suspension dynamics of two different tires will be analyzed, interpreted, and compared. Furthermore, a simulation model of the tire-wheel-suspension assembly with the FTire model and dynamic models of suspension components will be built up.

Optimal Design of Spherical 5R Parallel Manipulators Considering the Motion/Force Transmissibility

2010 ◽  
Vol 132 (3) ◽  
Author(s):  
Chao Wu ◽  
Xin-Jun Liu ◽  
Liping Wang ◽  
Jinsong Wang
Keyword(s):  
Performance Evaluation ◽  
Optimal Design ◽  
Parallel Manipulator ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Dimensional Synthesis ◽  
Force Transmission ◽  
Minimally Invasive Surgical ◽  
Pointing Device ◽  
Force Transmissibility

The spherical 5R parallel manipulator is a typical parallel manipulator. It can be used as a pointing device or as a minimally invasive surgical robot. This study addresses the motion/force transmission analysis and optimization of the manipulator by taking into account the motion/force transmissibility. The kinematics of the manipulator is analyzed. Several transmission indices are defined by using screw theory for the performance evaluation and dimensional synthesis. The process of determining the optimal angular parameters based on performance charts is presented. The manipulator that has a large workspace and good motion/force transmissibility is identified.

scholarly journals Operation Modes Comparison of a Reconfigurable 3-PRS Parallel Manipulator Based on Kinematic Performance

2016 ◽  
Author(s):  
Siddharth Maraje ◽  
Latifah Nurahmi ◽  
Stéphane Caro
Keyword(s):  
Parallel Manipulator ◽  
Screw Theory ◽  
Operation Mode ◽  
Algebraic Approach ◽  
Transmission Efficiency ◽  
Force Transmission ◽  
Operation Modes ◽  
Transmission Index ◽  
Prismatic Joints ◽  
Kinematic Mapping

The 3-PRS parallel manipulator with different arrangements of prismatic joints is called a reconfigurable 3-PRS parallel manipulator in this paper. The three prismatic joints in PRS limbs are attached to the base with an angle α between the horizontal plane of the base and their directions. Based on [1], the manipulator has identical operation modes, namely x0 = 0 and x3 = 0 for any value of α. Accordingly, this paper presents in more details the performance evaluation of these operation modes by using the output transmission index (OTI) and the constraint transmission index (CTI). The OTI and CTI determine the force transmission efficiency and the constraining ability of the manipulators, respectively. Initially, the determination of the number and types of operation modes of the 3-PRS parallel manipulator is recalled. The computation is carried out by using an algebraic approach, namely the Study kinematic mapping. In each operation mode, the actuation wrenches and the constraint wrenches are obtained based on the Screw theory. Then, the OTI and CTI are traced in the orientation workspace of the manipulator for different values of angle α. Furthermore, the singularity conditions are analysed corresponding to the values of OTI and CTI.

Experimental study of event-based neural network control on parallel manipulator

Mechatronics ◽  
2021 ◽  
Vol 75 ◽  
pp. 102514
Author(s):  
Naijing Jiang ◽  
Shu Zhang ◽  
Dingxu Guo ◽  
Dan Zhang ◽  
Jian Xu
Keyword(s):  
Neural Network ◽  
Experimental Study ◽  
Parallel Manipulator ◽  
Network Control ◽  
Neural Network Control ◽  
Event Based

scholarly journals Mechanism design and parameter optimization of a new asymmetric translational parallel manipulator

2019 ◽  
Vol 10 (1) ◽  
pp. 255-272
Author(s):  
Yi Yang ◽  
Yaqi Tang ◽  
Haijun Chen ◽  
Yan Peng ◽  
Huayan Pu
Keyword(s):  
Mechanism Design ◽  
Parallel Manipulator ◽  
Transmission Efficiency ◽  
Condition Numbers ◽  
Design Parameters ◽  
Evaluation Function ◽  
Force Transmission ◽  
Heavy Load ◽  
Pick And Place ◽  
Pick And Place Operation

Abstract. With the requirement of heavy load for pick-and-place operation, a new 3-DoF asymmetric translational parallel manipulator is invented in this paper. This manipulator is assembled by a kinematic limb with the parallel linear motion elements(PLMEs), and a single loop 2-UPR. Owning to the linear actuators directly connecting the moving and the fixed platforms, this parallel manipulator has high force transmission efficiency, and adapts to pick-and-place operation under heavy load. In this paper, the mobility and singularity are firstly analyzed by screw theory. And the simplified kinematic and dynamic model is established and solved. Secondly, the reaction forces of the prismatic joints in the PLMEs limb are investigated for the mechanism design. Also, the overall performance of the whole manipulator, such as the workspace, condition numbers of Jacobian matrices and motion transmission, etc, are discussed. Thirdly, a compound evaluation function, which involves the factors of workspace volume, transmission efficiency and reaction force, is proposed. In order to obtain a set of better design parameters, the optimization of the 3-DoF translational manipulator is conducted, for the object of maximum of the evaluation function. At last, the prototype is manufactured and experimented to validate the mobility and motion feasibility of this mechanism design.

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