Mechatronic Design and Control of a 3-RPS Parallel Manipulator

2017 ◽  
pp. 74-81 ◽  
Author(s):  
Giorgio Figliolini ◽  
Chiara Lanni ◽  
Pierluigi Rea ◽  
Tommaso Gallinelli
Keyword(s):  
Parallel Manipulator ◽  
Mechatronic Design ◽  
And Control

Mechatronic design, experimental setup, and control architecture design of a novel 4 DoF parallel manipulator

2017 ◽  
Vol 46 (4) ◽  
pp. 425-439 ◽  
Author(s):  
Marina Vallés ◽  
Pedro Araujo-Gómez ◽  
Vicente Mata ◽  
Angel Valera ◽  
Miguel Díaz-Rodríguez ◽  
...  
Keyword(s):  
Parallel Manipulator ◽  
Control Architecture ◽  
Experimental Setup ◽  
Architecture Design ◽  
Mechatronic Design ◽  
And Control

Inverse dynamic modeling and control of spatial rigid-flexible parallel manipulator

2018 ◽  
Vol 26 (1) ◽  
pp. 95-104
Author(s):  
刘凉 LIU Liang ◽  
赵新华 ZHAO Xin-hua ◽  
王收军 WANG Shou-jun ◽  
秦帅华 QIN Shuai-hua
Keyword(s):  
Dynamic Modeling ◽  
Parallel Manipulator ◽  
Inverse Dynamic ◽  
Modeling And Control ◽  
And Control

scholarly journals Design and Analysis of a Wire-Driven Parallel Mechanism for Low-Gravity Environment Simulation

2014 ◽  
Vol 6 ◽  
pp. 810606 ◽  
Author(s):  
Weifang Wang ◽  
Xiaoqiang Tang ◽  
Zhufeng Shao ◽  
Jiping Yang ◽  
Wangmin Yi
Keyword(s):  
Parallel Mechanism ◽  
Quality Index ◽  
Parallel Manipulator ◽  
Force Distribution ◽  
The Moon ◽  
Low Gravity ◽  
Wire Tension ◽  
Environment Simulation ◽  
The Wire ◽  
And Control

Traditional simulation mechanisms are unable to meet the simulation requirements of spacecraft launcher in low-gravity environment, like in the Moon. Based on the advantages of wire-driven parallel mechanism, a 6-DOF low-gravity environment simulation device with eight wires is designed in this paper. Firstly, the configuration and dimensional design of this wire-driven parallel mechanism are carried out. To operate and control the wire-driven parallel mechanism, a force distribution algorithm is introduced and the workspace is analyzed. Then, an evaluation index named quality index is established in order to study the performance of the wire-driven parallel manipulator in its workspace and reasonable tension is obtained after analyzing the influence on quality index caused by different wire tension.

Mechatronic Design and Control of a 3D Printed Low Cost Robotic Upper Limb

2018 ◽  
Author(s):  
Duncan Carter-Davies ◽  
Junshen Chen ◽  
Fei Chen ◽  
Miao Li ◽  
Chenguang Yang
Keyword(s):  
Upper Limb ◽  
Low Cost ◽  
Mechatronic Design ◽  
3D Printed ◽  
And Control

Mechatronics Engineering on the Example of a Multipurpose Mobile Robot

2009 ◽  
Vol 147-149 ◽  
pp. 61-66 ◽  
Author(s):  
Marek Stania ◽  
Ralf Stetter
Keyword(s):  
Mobile Robot ◽  
Design Process ◽  
Level Control ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Mechatronic Design ◽  
Planning And Control ◽  
And Control

This paper presents the patented mechanical concept for steering and level control of a mobile robot equipped with four driving units and the methods that lead to the development of this mechatronic system. The mobile robot exhibits excellent maneuverability and considerable advantages when moving in difficult environments such as rough landscapes. The paper discusses a refined approach to develop mechatronic systems which is based on the well-known V-model. The refined approach allows a conscious planning and control of a mechatronic design process.

scholarly journals Kinematics, Structural Analysis and Control of 3-PPSS Parallel Manipulator

2019 ◽  
Vol 8 (6S4) ◽  
pp. 911-916
Keyword(s):  
Structural Analysis ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Low Cost ◽  
Inverse Kinematic ◽  
Mobile Platform ◽  
Ansys Software ◽  
Marquardt Algorithm ◽  
Prismatic Joints ◽  
And Control

CIndustries encourage the use of low-cost compact and easily controllable equipment’s to implement automation due to the lack of skilled labors and low productivity. This demands the need for more efficient and affordable novel mechanisms and processes. In this paper, the kinematic analysis of a 3-PPSS (P— prismatic joint, S- spherical joint) parallel manipulator having an equilateral mobile platform is explained. The Kinematic analysis is done using the Modified Denavit-Hartenberg (DH) modelling technique. The inverse kinematic equations are further solved using Levenberg-Marquardt Algorithm to obtain an exact solution for the joint variables corresponding to an instantaneous pose of the end effector. Static structural analysis is done using ANSYS software to determine the deformations and stresses induced. Optimum dimensions are chosen for the manipulator based on this analysis. Finally, an ARDUINO based control is implemented to manipulate the mobile platform by controlling the active prismatic joints.

A New Parallel Actuated Architecture for Exoskeleton Applications Involving Multiple Degree-of-Freedom Biological Joints

2018 ◽  
Vol 10 (5) ◽  
Author(s):  
Justin Hunt ◽  
Hyunglae Lee
Keyword(s):  
Parallel Manipulator ◽  
Dynamic Performance ◽  
Future Generation ◽  
Degree Of Freedom ◽  
Performance Requirements ◽  
Ankle Exoskeleton ◽  
And Control ◽  
Spherical Parallel Manipulator

The purpose of this work is to introduce a new parallel actuated exoskeleton architecture that can be used for multiple degree-of-freedom (DoF) biological joints. This is done in an effort to provide a better alternative for the augmentation of these joints than serial actuation. The new design can be described as a type of spherical parallel manipulator (SPM) that utilizes three 4 bar substructures to decouple and control three rotational DoFs. Four variations of the 4 bar spherical parallel manipulator (4B-SPM) are presented in this work. These include a shoulder, hip, wrist, and ankle exoskeleton. Also discussed are three different methods of actuation for the 4B-SPM, which can be implemented depending on dynamic performance requirements. This work could assist in the advancement of a future generation of parallel actuated exoskeletons that are more effective than their contemporary serial actuated counterparts.

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