scholarly journals Some Properties of the Irvine Cable Model and Their Use for the Kinematic Analysis of Cable-Driven Parallel Robots

2018 ◽  
pp. 409-416
Author(s):  
Jean-Pierre Merlet
Keyword(s):  
Kinematic Analysis ◽  
Parallel Robots ◽  
Cable Model

Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis

2020 ◽  
Vol 13 (1) ◽  
Author(s):  
Sven Lilge ◽  
Kathrin Nuelle ◽  
Georg Boettcher ◽  
Svenja Spindeldreier ◽  
Jessica Burgner-Kahrs
Keyword(s):  
Recent Work ◽  
Constant Curvature ◽  
Kinematic Analysis ◽  
Flexible Structures ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Continuum Robots ◽  
Advantages And Disadvantages ◽  
Reference Design ◽  
Exact Quantification

Abstract The use of continuous and flexible structures instead of rigid links and discrete joints is a growing field of robotics research. Recent work focuses on the inclusion of continuous segments in parallel robots to benefit from their structural advantages, such as a high dexterity and compliance. While some applications and designs of these novel parallel continuum robots have been presented, the field remains largely unexplored. Furthermore, an exact quantification of the kinematic advantages and disadvantages when using continuous structures in parallel robots is yet to be performed. In this paper, planar parallel robot designs using tendon actuated continuum robots instead of rigid links and discrete joints are proposed. Using the well-known 3-RRR manipulator as a reference design, two parallel continuum robots are derived. Inverse and differential kinematics of these designs are modeled using constant curvature assumptions, which can be adapted for other actuation mechanisms than tendons. Their kinematic performances are compared to the conventional parallel robot counterpart. On the basis of this comparison, the advantages and disadvantages of using continuous structures in parallel robots are quantified and analyzed. Results show that parallel continuum robots can be kinematic equivalent and exhibit similar kinematic performances in comparison to conventional parallel robots depending on the chosen design.

Kinematic analysis and self-calibration of three-legged modular parallel robots

1999 ◽  
Author(s):  
Wee K. Lim ◽  
Guilin Yang ◽  
I-Ming Chen ◽  
Song H. Yeo
Keyword(s):  
Kinematic Analysis ◽  
Parallel Robots ◽  
Self Calibration

Advanced Numerical Modeling of Nonlinear Elastic Cable With Permanent Stretch Using Cable Driven Parallel Robot

2017 ◽  
Author(s):  
Sung-Hyun Choi ◽  
Kyoung-Su Park
Keyword(s):  
Numerical Modeling ◽  
Steel Wire ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Cable Model ◽  
Lower Weight ◽  
Simulation Results ◽  
Nonlinear Elastic ◽  
Good Agreement ◽  
Elastic Characteristics

Since cable driven parallel robots (CDPRs) have many advantages, they have been used in many industrial fields. Fully constrained CDPRs mainly use Dyneema polyethylene because it has advantage of the lower weight than steel wire. However, the polyethylene cable has complex elastic characteristics (e.g. permanent stretch and hysteresis). In this paper, the advanced numerical modeling of nonlinear elastic cable with permanent stretch using cable driven parallel robot was derived and simulated for various cable condition. Based on the advanced numerical nonlinear cable model, the simulation was carried out under the various cable lengths and tensions. Compared to the experimental results, the simulation results are good agreement with the experimental data.

Kinematic Analysis of a Five-Legged Mobile Robot

2010 ◽  
Author(s):  
Muhammed R. Pac ◽  
Dan O. Popa
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Parallel Robots ◽  
The Body ◽  
Legged Robots ◽  
Upper Body ◽  
Design Changes ◽  
Robot Performance ◽  
The Impact

Legged robots are more maneuverable, and can negotiate rough terrain much better than conventional locomotion using wheels. However, since the kinematic or dynamic analysis of such robots involves closed chains, it is typically more difficult to investigate the impact of design changes, such as the number, or the design of its legs, to robot performance. Most legged robots consist of 4 legs (quadrupeds) or 6 legs (hexapods). This paper discusses the kinematic analysis of an unconventional, symmetrical 5-legged robot with 2-DOF (Degrees Of Freedom) universal joints in each leg. The analysis was carried out in order to predict the mobility of the upper body platform, and investigate the number of robot actuators needed for mobility. The product of exponentials formulation with respect to the local coordinate frames is used to describe the twists of the joints. The analysis is based on the idea that the robot body platform along with the legs can be considered instantaneously as a parallel robot manipulating the ground. Hence, the analysis can be done using the Jacobian formulation of parallel robots. Simulation results confirm the mobility analysis that the robot can have at most 3-DOF for the body and that these freedoms are coupled rotations and translations in 3D space also with a dependence on the configuration of the robot.

Pose Calibration Method of 6-D.O.F. Cable Driven Parallel Robot Using Hybrid Recurrent Neural Network

2018 ◽  
Author(s):  
Sung-Hyun Choi ◽  
Kyoung-Su Park ◽  
Jun-Mu Heo ◽  
Hue Ha
Keyword(s):  
Neural Network ◽  
Recurrent Neural Network ◽  
Calibration Method ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Cable Model ◽  
Repetitive Motion

Cable driven parallel robots (CDPRs) have been widely used in precision Industries. However, an error occurs in repetitive motion of the CDPR because of the elongation and recovery of cable. Also, it is difficult to apply the numerical cable model because of its complexity. In this paper, we use the frequency based H-RNN method for accurate kinematics. H-RNN predicted more accurately compared with LSTM and RNN algorithms.

Six degrees of freedom parallel robots with C5 links

Robotica ◽  
1992 ◽  
Vol 10 (1) ◽  
pp. 35-44 ◽  
Author(s):  
Y. Amirat ◽  
F. Artigue ◽  
J. Pontnau
Keyword(s):  
Automotive Industry ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Parallel Architecture ◽  
Parallel Robot ◽  
Parallel Architectures ◽  
Parallel Robots ◽  
Left Hand ◽  
Six Degrees Of Freedom ◽  
Assembly Tasks

SummaryThis paper presents at first a static and kinematic analysis of closed chains mechanisms which permits to deduce different possible fully parallel architectures. Then we focus on a particular parallel architecture with C5 links designed to perform precise assembly tasks. A general modeling of this C5 parallel robot is presented. Two typical assembly tasks in the automotive industry are also proposed; the first one uses the C5 links parallel robot as a left-hand device, while the second one uses it as the terminal tool of a sequential manipulator.

The QuadroG Robot, a Parallel Robot With a Configurable Platform for Haptic Applications

2015 ◽  
Author(s):  
Salua Hamaza ◽  
Patrice Lambert ◽  
Marco Carricato ◽  
Just Herder
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Parallel Robot ◽  
Parallel Robots ◽  
End Effector ◽  
Contact Points ◽  
Loop Chain ◽  
End Effectors ◽  
4 Degrees Of Freedom

This paper explores the fundamentals of parallel robots with configurable platforms (PRCP), as well as the design and the kinematic analysis of those. The concept behind PRCP is that the rigid (non-configurable) end-effector is replaced by a closed-loop chain, the configurable platform. The use of a closed-loop chain allows the robot to interact with the environment from multiple contact points on the platform, which reflects the presence of multiple end-effectors. This results in a robot that successfully combines motion and grasping capabilities into a structure that provides an inherent high stiffness. This paper aims to introduce the QuadroG robot, a 4 degrees of freedom PRCP which finely merges planar motion together with grasping capabilities.

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