Conceptual Design and Kinematic Analysis of a Novel Parallel Manipulator with an Articulated Gripping Platform

2015 ◽  
pp. 433-444 ◽  
Author(s):  
Yimin Song ◽  
Yang Qi ◽  
Tao Sun
Keyword(s):  
Conceptual Design ◽  
Kinematic Analysis ◽  
Parallel Manipulator

Optimal design of a redundant spherical parallel manipulator

Robotica ◽  
1997 ◽  
Vol 15 (4) ◽  
pp. 399-405 ◽  
Author(s):  
Sylvie Leguay-Durand ◽  
Claude Reboulet
Keyword(s):  
Optimal Design ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Structure Optimization ◽  
Kinematic Design ◽  
Spherical Wrist ◽  
Redundant Structure ◽  
Spherical Parallel Manipulator

A new kinematic design of a parallel spherical wrist with actuator redundancy is presented. A special feature of this parallel manipulator is the arrangement of co-axial actuators which allows unlimited rotation about any axis inside a cone-shaped workspace. A detailed kinematic analysis has shown that actuator redundancy not only removes singularities but also increases workspace while improving dexterity. The structure optimization has been performed with a global dexterity criterion. Using a conditioning measure, a comparison with a non-redundant structure of the same type was performed and shows that a significant improvement in dexterity has been obtained.

Forward kinematic analysis of the 3- R P RS parallel manipulator

2017 ◽  
Vol 116 ◽  
pp. 262-272 ◽  
Author(s):  
Anirban Nag ◽  
Santhakumar Mohan ◽  
Sandipan Bandyopadhyay
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Forward Kinematic

Kinematics and Dynamics of a Parallel Manipulator With Woven Joints

1993 ◽  
Author(s):  
Hyunsok Pang
Keyword(s):  
Lagrange Multipliers ◽  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Numerical Technique ◽  
Vector Analysis ◽  
Kinematics And Dynamics ◽  
Governing Equations ◽  
Numerical Examples

Abstract Presented is an analysis of the kinematics and the inverse dynamics of a proposed three DOF parallel manipulator resembling the Stewart platform in a general form. In the kinematic analysis, the inverse kinematics, velocity and acceleration analyses are performed, respectively, using vector analysis and general homogeneous transformations. An algorithm to solve the inverse dynamics of the proposed parallel manipulator is then presented using a Lagrangin technique. In this case, it is found that one should introduce and subsequently eliminate Lagrange multipliers in order to arrive at the governing equations. Numerical examples are finally carried out to examine the validity of the approach and the accuracy of the numerical technique employed. The trajectory of motion of the manipulator is also performed using a cubic spline.

Kinematic analysis and optimal design of a novel 1T3R parallel manipulator with an articulated travelling plate

2014 ◽  
Vol 30 (5) ◽  
pp. 508-516 ◽  
Author(s):  
Yimin Song ◽  
Hao Gao ◽  
Tao Sun ◽  
Gang Dong ◽  
Binbin Lian ◽  
...  
Keyword(s):  
Optimal Design ◽  
Kinematic Analysis ◽  
Parallel Manipulator

Kinematic Analysis and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator

2006 ◽  
Vol 129 (6) ◽  
pp. 611-616 ◽  
Author(s):  
Pierre-Luc Richard ◽  
Clément M. Gosselin ◽  
Xianwen Kong
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Quadratic Equation ◽  
Design Stage ◽  
Forward Displacement ◽  
Singular Configurations ◽  
The Family ◽  
Moving Platform ◽  
Forward Displacement Analysis

A four-degree-of-freedom (DOF) 3T1R parallel manipulator is presented in this paper. This manipulator generates the family of so-called Schönflies motions, SCARA motions or 3T1R motions, in which the moving platform can translate in all directions and rotate around an axis of a fixed direction. The kinematic analysis of this architecture is presented, including the study of the constraint singular configurations, kinematic singular configurations, and the determination of the workspace. A prototype (the Quadrupteron) is also presented and demonstrated. The characteristics of the proposed prototype are (a) there is no constraint singularity, (b) its input-output equations are partially decoupled, (c) its kinematic singular configurations can be expressed using an equation in the angle of rotation of the moving platform and are thus easy to avoid at the design stage, and (d) its forward displacement analysis requires the solution of a univariate quadratic equation and can therefore be solved efficiently.

A Study on the Kinematics of 2-DOF Parallel Manipulator

2011 ◽  
Vol 148-149 ◽  
pp. 1487-1490
Author(s):  
Jong Gyu Lee ◽  
Sang Ryong Lee ◽  
Choon Young Lee ◽  
Seung Han Yang
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Displacement Velocity ◽  
Linear Motion ◽  
End Effector ◽  
Verification Algorithm

In this paper, a parallel manipulator is comprised of sliders and links. The end-effector has an orientation. Sliders execute a linear motion along parallel guidelines and make the connected links rotate. We derived displacement, velocity and acceleration from kinematic analysis of this manipulator using direct and inverse kinematics,found constraint conditions and proposed the verification algorithm of constraint conditions. With the result from the simulation, we found that there was a local workspace where the manipulator cannot carry out a series of link motion.

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