Static Analysis and Dimensional Optimization of a Cable-Driven Parallel Robot

2017 ◽  
pp. 152-166 ◽  
Author(s):  
Matthew Newman ◽  
Arthur Zygielbaum ◽  
Benjamin Terry
Keyword(s):  
Static Analysis ◽  
Parallel Robot ◽  
Dimensional Optimization

scholarly journals Kinematic Analysis of Three-Wire-Driven Parallel (TWDP) Robot

2011 ◽  
Vol 2-3 ◽  
pp. 302-307 ◽  
Author(s):  
Tao Yu ◽  
Qing Kai Han
Keyword(s):  
Static Analysis ◽  
Parallel Robot ◽  
Analytical Models ◽  
Kinematics Analysis ◽  
Mechanism Model ◽  
Good Movement ◽  
Dynamics And Control ◽  
Movement Stability ◽  
Simulation Results ◽  
And Control

In the paper, a novel new gravity-constrained (GC) three-wire-driven (TWD) parallel robot is proposed. With its mechanism model, three typical kinematics analytical models, including horizontal up-down motion, pitching motion and heeling motion and their corresponding simulations are given in detail. In static analysis, the change of tensions in the wires is calculated based on previous kinematics analysis. The simulation results show the robot has good movement stability. The paper can provide useful materials to study of dynamics and control on wire-driven robot.

Static Analysis of a Two-Platform Planar Cable-Driven Parallel Robot with Unlimited Rotation

2019 ◽  
pp. 121-133 ◽  
Author(s):  
Thomas Reichenbach ◽  
Philipp Tempel ◽  
Alexander Verl ◽  
Andreas Pott
Keyword(s):  
Static Analysis ◽  
Parallel Robot

Kinematic-Dimensional Analysis of Parallel Robot Used for Orientation

2010 ◽  
Vol 166-167 ◽  
pp. 229-234 ◽  
Author(s):  
Tiberiu Pavel Itul ◽  
Doina Liana Pisla
Keyword(s):  
Dimensional Analysis ◽  
Parallel Robot ◽  
Celestial Orientation ◽  
Dimensional Optimization

In the paper a very simple parallel robot intended for some celestial orientation applications (satellite dishes, sun trackers, cameras, telescopes etc.) is proposed. After describing the mechanism and its kinematics, the workspace and the presence of the singularities are studied. The dimensional optimization to maximize the workspace is described, taking into account the constraints due to telescopic leg lengths and transmission angles.

scholarly journals Kineto-Static Analysis and Design Optimization of a 3-DOF Wrist Rehabilitation Parallel Robot with Consideration of the Effect of the Human Limb

Machines ◽  
2021 ◽  
Vol 9 (12) ◽  
pp. 323
Author(s):  
Ying-Chi Liu ◽  
Kosuke Irube ◽  
Yukio Takeda
Keyword(s):  
Static Analysis ◽  
Parallel Robot ◽  
Interaction Force ◽  
Inverse Kinematic ◽  
Design Parameters ◽  
Analysis And Design ◽  
Parasitic Motion ◽  
Rehabilitation Robots ◽  
Inverse Kinematic Analysis ◽  
Human Limb

When designing rehabilitation robots, there remains the challenge of ensuring the comfort and safety of users, especially for wearable rehabilitation robots that interact with human limbs. In this paper, we present a kineto-static analysis of the 3-RPS parallel wrist rehabilitation robot, taking into account the soft characteristics of the human limb and its kinematic mobility. First, the human upper-limb model was made to estimate the interaction force and moment through inverse kinematic analysis. Second, a static analysis was conducted to obtain the force and moment acting on the human limb, which is directly related to the user’s comfort and safety. Then, the design parameters of the 3-RPS robot were obtained by generic optimization through kineto-static analysis. Finally, the influence of the parasitic motion of the 3-RPS robot and the initial offset between the wrist center and the robot moving platform were discussed. Through the analysis results, we provide effective solutions to ensure the safety and comfort of the user.

Neural Network-Based Inverse Kineto-Static Analysis of Cable-Driven Parallel Robot Considering Cable Mass and Elasticity

2021 ◽  
pp. 50-62
Author(s):  
Ishan Chawla ◽  
Pushparaj Mani Pathak ◽  
Leila Notash ◽  
Arun Kumar Samantaray ◽  
Qingguo Li ◽  
...  
Keyword(s):  
Neural Network ◽  
Static Analysis ◽  
Parallel Robot

scholarly journals Geometrico-Static Analysis of a New Collaborative Parallel Robot for Safe Physical Interaction

2020 ◽  
Author(s):  
Guillaume Jeanneau ◽  
Vincent Bégoc ◽  
Sébastien Briot
Keyword(s):  
Static Analysis ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Numerical Approach ◽  
Physical Interaction ◽  
Direct And Inverse Problems ◽  
End Effector ◽  
Cartesian Space ◽  
Risk Of Injury ◽  
The Stability

Abstract This paper introduces a geometrico-static analysis of an intrinsically safe parallel manipulator called R-Min. This robot was designed to reduce the risk of injury during a collision with a human operator, thanks to an underactuated architecture which enables large internal displacements in case of a collision. Indeed, the R-Min architecture is based on a modification of the well-known planar five-bar mechanism, where additional passive joints are introduced on the distal links in order to create a planar seven-bar mechanism with two degrees of underactuation. These two additional degrees of freedom are passively driven through the use of a supplementary passive leg, in which a tension spring is mounted between the base and the end-effector. In this paper, the conditions satisfying the equilibrium and the stability of the mechanism are introduced, based on a geometrico-static analysis. The direct and inverse problems are then solved using a numerical approach. Solutions to both problems are presented and classified. One subset of solutions to the inverse problem is isolated and projected in the Cartesian space in order to obtain the payload-invariant workspace of the R-Min robot.

Conceptual design and dimensional optimization of the linear delta robot with single legs for additive manufacturing

2019 ◽  
Vol 233 (7) ◽  
pp. 855-869 ◽  
Author(s):  
Efrain Rodriguez ◽  
Alberto J Alvares ◽  
Cristhian IR Jaimes
Keyword(s):  
Additive Manufacturing ◽  
Conceptual Design ◽  
Quality Function Deployment ◽  
Dynamic Performance ◽  
Three Dimensional ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Kinematic Chains ◽  
Design Concepts ◽  
Dimensional Optimization

Because of remarkable characteristics such as superior speeds and accelerations, high stiffness and good dynamic performance, parallel robots are being increasingly adjusted to different task requirements in the manufacturing field. Their parallel structures made by closed-loop kinematic chains are better suited to develop new curved and multidirectional fabrication strategies in Additive Manufacturing. Based on this application, the conceptual design and dimensional optimization of a new structure of the linear delta parallel robot for Additive Manufacturing (three-dimensional printing) is presented. The new structure uses an innovative concept of delta mechanism with single legs and rotational joints, which consists of 12 links (three single parallel legs), three prismatic joints, and 11 revolute joints. A particular feature of the proposed mechanism is that it contains a joint common to all the kinematic chains instead of a mobile platform. Quality function deployment is used as a methodology for conceptual design. Then the kinematics of the mechanism is described in detail, including mobility analysis, inverse and direct kinematics, and a study of dimensional optimization. A method of efficient optimization based on genetic algorithms is used to find the minimum dimensional parameters of the robot, considering the maximization of the useful workspace as main performance index. Finally, a prototype of the robot is developed to validate the design concepts and functionality of the machine.

Static of Parallel Manipulators and Closeness to Singularity

2008 ◽  
Vol 1 (1) ◽  
Author(s):  
J. Hubert ◽  
J.-P. Merlet
Keyword(s):  
Static Analysis ◽  
Parallel Manipulators ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Practical Issue ◽  
End Effector ◽  
Joint Forces ◽  
Fixed Threshold

Singularity is a major problem for parallel robots as in these configurations the robot cannot be controlled, and there may be infinite forces/torques in its joints, possibly leading to a robot breakdown. In the recent years classification and detection of singularities have made large progress. However, the issue of closeness to a singularity is still open and we propose in this paper an approach that is based on a static analysis. Our measure of closeness to a singularity is based on the very practical issue of having the joint forces/torques lower than a given threshold. We consider a planar parallel robot whose end-effector has a constant orientation and is submitted to a known wrench and we show that it is possible to compute the border of the region that describes all possible end-effector location for which the joint forces are lower than the fixed threshold.

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