scholarly journals Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators

2009 ◽  
pp. 43-50 ◽  
Author(s):  
Philippe Wenger ◽  
Damien Chablat
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulators

Synthesis and Analysis of 4-DOF Parallel Manipulators of Computer Aided Geometry Approach

2014 ◽  
Vol 912-914 ◽  
pp. 1010-1016
Author(s):  
Yan Hua Zhang ◽  
Xiu Ju Du ◽  
Bai Yong Zhang
Keyword(s):  
Computer Simulation ◽  
Kinematic Analysis ◽  
Geometric Approach ◽  
Parallel Manipulators ◽  
Geometric Constraints ◽  
Type Synthesis ◽  
Moving Platforms ◽  
Kinematic Characteristics ◽  
Computer Aided

A novel computer aided geometry approach for type synthesis and analysis of new spatial 4-DOF parallel manipulators is put forward, and create the computer simulation mechanisms of parallel manipulators using the geometric constraints and dimension driving techniques in CAD software, Based on the computer simulation mechanisms of parallel manipulators, several new spatial 4-DOF parallel manipulators are synthesized, the kinematic characteristics of the moving platforms are analyzed by computer simulation. The results of computer simulation prove that the computer aided geometric approach for solving type synthesis and kinematic analysis is not only fairly quick and straightforward, but also has the advantages of accuracy.

scholarly journals Kinematic Analysis Of Tricept Parallel Manipulator

2012 ◽  
Vol 12 (5) ◽  
Author(s):  
Mir Amin Hosseini ◽  
Hamid-Reza Mohammadi Daniali
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Geometric Constraints ◽  
Design Parameters ◽  
Forward Kinematics ◽  
Jacobian Matrices ◽  
Moving Platforms ◽  
Workspace Optimization

Parallel manipulators consist of fixed and moving platforms connected to each other with some actuated links. They have some significant advantages over their serial counterparts. While, they suffer from relatively small workspaces, complex kinematics relations and highly singular points within their workspaces. In this paper, forward kinematics of Tricept parallel manipulator is solved analytically and its workspace optimization is performed. This parallel manipulator has a complex degree of freedom, therefore leads to dimensional in-homogeneous Jacobian matrices. Thus, we divide some entries of the Jacobian by units of length, thereby producing a new Jacobian that is dimensionally homogeneous. Moreover, its workspace is parameterized using some design parameters. Then, using GA method, the workspace is optimized subjects to some geometric constraints. Finally, dexterity of the design is evaluated. Keywords- Kinematic, Workspace, Singularity, TriceptABSTRAK - Manipulator selari terdiri daripada platform tetap dan bergerak yang bersambung antara satu sama lain dengan beberapa pautan bergerak. Manipulator selari mempunyai beberapa kebaikan tertentu dibandingkan dengan yang bersamaan dengannya. Walaupun ia mempunyai ruang kerja yang sempit, hubungan kinematik kompleks dan titik tunggal tinggi dalam linkungan ruang kerjanya. Dalam kajian ini, kinematik ke hadapan manipulator selari Tricept diselesaikan secara analisa dan pengoptimuman ruang kerja dijalankan. Manipulator selari ini mempunyai darjah kebebasan yang kompleks, yang menyebabkan ia mendorong kepada kehomogenan dimensi matriks Jacobian. Catatan Jacobian dibahagikan kepada unit panjang, dimana ia menghasilkan Jacobian baru yang homogen dimensinya. Tambahan, ruang kerjanya diparameterkan dengan menggunakan beberapa parameter reka bentuk. Kemudian, dengan kaedah GA, ruang kerja mengoptimakan subjek kepada beberapa kekangan geometrik. Akhirnya, kecakatan reka bentuk dinilaikan.Keywords- Kinematic, Workspace, Singularity, Tricept

Kinematic analysis of overconstrained manipulators with partial subspaces using decomposition method

Robotica ◽  
2021 ◽  
pp. 1-16
Author(s):  
Özgün Selvi
Keyword(s):  
Kinematic Analysis ◽  
Decomposition Method ◽  
Degrees Of Freedom ◽  
Additional Data ◽  
Parallel Manipulators ◽  
Inverse Kinematic ◽  
Velocity Analysis ◽  
Workspace Analysis ◽  
Inverse Kinematic Analysis ◽  
Inverse Velocity

SUMMARY Overconstrained manipulators in lower subspaces with unique motions can be created and analyzed. However, far too little attention has been paid to creating a generic method for overconstrained manipulators kinematic analysis. This study aimed to evaluate a generic methodology for kinematic analysis of overconstrained parallel manipulators with partial subspaces (OPM-PS) using decomposition to parallel manipulators (PMs) in lower subspaces. The theoretical dimensions of the method are depicted, and the use of partial subspace for overconstrained manipulators is portrayed. The methodology for the decomposition method is described and exemplified by designing and evaluating the method to two overconstrained manipulators with 5 degrees of freedom (DoF) and 3 DoF. The inverse kinematic analysis is detailed with position analysis and Jacobian along with the inverse velocity analysis. The workspace analysis for the manipulators using the methodology is elaborated with numerical results. The results of the study show that OPM-PS can be decomposed into PMs with lower subspace numbers. As imaginary joints are being utilized in the proposed methodology, it will create additional data to consider in the design process of the manipulators. Thus, it becomes more beneficial in design scenarios that include workspace as an objective.

Kinematics of a 6-DOF parallel manipulator with two limbs actuated by spherical motion generators

2021 ◽  
pp. 095440622110329
Author(s):  
Kun Wang ◽  
Xiaoyong Wu ◽  
Yujin Wang ◽  
Jun Ding ◽  
Shaoping Bai
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Practical Application ◽  
Numerical Examples ◽  
Position Analysis ◽  
Kinematic Study ◽  
Small Footprint ◽  
Dual Arm ◽  
Spherical Motion

Inspired by dual-arm-like manipulation, a novel 6-DOF parallel manipulator with two spherical-universal-revolute limbs is proposed. Compared with general 6-DOF parallel manipulators with six limbs, this new manipulator actuated by spherical motion generators has only two limbs, which brings advantages such as fewer active limbs for avoiding interference, larger reachable and orientational workspace for complex operating, more actuators integrated in active modules for decreasing installation errors and increasing compactness. In this paper, the kinematics of this novel parallel manipulator is solved and illustrated, covering its inverse and forward position analysis, workspace and singularities. The kinematic study reveals interesting features of this manipulator such as multiple working and assembly modes, small footprint and large workspace volume with high dexterity. Numerical examples of kinematic analysis are included. Practical application of the new manipulator is illustrated.

scholarly journals Forward kinematics analysis for a class of asymmetrical parallel manipulators

2017 ◽  
Vol 14 (1) ◽  
pp. 172988141667813 ◽  
Author(s):  
Qimin Xu ◽  
Yongsheng Yang ◽  
Zhongliang Jing ◽  
Shiqiang Hu
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulators ◽  
Kinematics Analysis ◽  
Kinematic Constraint ◽  
Constraint Equations ◽  
Elimination Algorithm ◽  
Computation Efficiency ◽  
Forward Kinematic ◽  
Variable Geometry Truss Manipulator ◽  
Variable Geometry Truss

This article focuses on the forward kinematic analysis of a class of asymmetrical parallel manipulators by the proposed elimination approach. To solve the key forward kinematic constraint equations with transcendental parameters of the manipulator, an improved elimination algorithm is presented. First, by analyzing the geometry structure of the manipulator, we find the inherent triangular-topology relations of the manipulator. Further, by utilizing the parameter transformation of angular, the key transcendental equations of forward kinematic analysis are formulated into compact polynomial ones. In this context, comparing with the screw approach by Gallardo-Alvarado suggested that the computation efficiency of our proposed approach is superior. Finally, an example of the asymmetrical variable geometry truss manipulator illustrates the effectiveness of the proposed approach.

Comparative Kinematic Analysis and Design Optimization of Redundant and Nonredundant Planar Parallel Manipulators Intended for Haptic Use

Robotica ◽  
2019 ◽  
Vol 38 (8) ◽  
pp. 1463-1477 ◽  
Author(s):  
Houssem Saafi ◽  
Houssein Lamine
Keyword(s):  
Design Optimization ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Kinematic Model ◽  
Parallel Manipulators ◽  
Geometric Parameters ◽  
Analysis And Design ◽  
Planar Parallel Manipulator ◽  
Forward Kinematic ◽  
Planar Parallel Manipulators

SUMMARYThis paper investigates a comparative kinematic analysis between nonredundant and redundant 2-Degree Of Freedom parallel manipulators. The nonredundant manipulator is based on the Five-Bar mechanism, and the redundant one is a 3-RRR planar parallel manipulator. This study is aimed to select the best structure for a haptic application. This latter requires a mechanism with a desired workspace of 10 cm × 10 cm and an admissible force of 5 N in all directions. The analysis criteria are the accuracy of the forward kinematic model and the required actuator torques. Thereby, the geometric parameters of the two structures are optimized in order to satisfy the required workspace such that parallel singularities are overcome. The analysis showed that the nonredundant optimally designed manipulator is more suitable for the haptic application.

Kinematic Analysis and Singularity Loci of Spatial Four-Degree-of-Freedom Parallel Manipulators

1996 ◽  
Author(s):  
Jiegao Wang ◽  
Clément M. Gosselin
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulators ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Numerical Determination ◽  
Inverse Kinematic Problem ◽  
Flight Simulators ◽  
Important Design ◽  
Robotic Applications

Abstract The kinematic analysis and the determination of the singularity loci of spatial four-degree-of-freeedom parallel manipulators with prismatic or revolute actuators are discussed in this article. After introducing the architecture of the spatial parallel four-degree-of-freedom manipulators, algorithms for the solution of the inverse kinematic problem are provided for the two kinds of manipulators considered. Two different methods are presented for the derivation of the velocity equations and the corresponding Jacobian matrices are derived. The numerical determination of the workspace boundaries is then briefly discussed. Finally, the determination of the singularity loci is performed using the velocity equations and examples are given to illustrate the results obtained. Spatial four-degree-of-freedom parallel manipulators can be used in several robotic applications as well as in flight simulators. The determination of their singularity loci is a very important design issue.

The SOCs Modular Method for Kinematic Analysis of Complicated Parallel Manipulators

2011 ◽  
Vol 52-54 ◽  
pp. 834-841
Author(s):  
Zhi Xin Shi ◽  
Mei Yan Ye ◽  
Yu Feng Luo ◽  
Ting Li Yang
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulators ◽  
Initial Guess ◽  
Modular Approach ◽  
Compatibility Conditions ◽  
Kinematic Chains ◽  
Procedural Approach ◽  
Modular Method ◽  
Parallel Kinematic

This paper presents a simple and systematic modular approach for kinematic analysis of complicated Parallel Kinematic Manipulators (in short, PKMs) which coupled degrees are more than 2. (1) Single open chains (in short, SOCs) may be regarded as the basic modules of a PKM. Any PKM can always be decomposed automatically into a set of ordered SOCs, and these SOCs can also be used to recognize the basic kinematic chains contained in it. (2) The kinematic analysis algorithms and the compatibility conditions of the SOC modules are offered. (3) Directly applying the above SOC kinematic modules, the kinematic equations of a PKM can be automatically established. (4) In order to solve kinematic equations of complicated parallel manipulators which coupled degrees are more than 2, a new searching algorithm which requires no initial guess has been presented. The procedural approach is demonstrated in parallel manipulators.

Design and Singularity Analysis of a 3-Translational-DOF In-Parallel Manipulator*

2002 ◽  
Vol 124 (3) ◽  
pp. 419-426 ◽  
Author(s):  
L. Romdhane ◽  
Z. Affi ◽  
M. Fayet
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Singularity Analysis ◽  
Orientation Error ◽  
Kinematic Chains ◽  
Prismatic Joints ◽  
Forward Kinematic ◽  
3D Solid ◽  
Novel Design

In this work, we shall present a novel design of a 3-translational-DOF in-parallel manipulator having 3 linear actuators. Three variable length legs constitute the actuators of this manipulator, whereas two other kinematic chains with passive joints are used to eliminate the three rotations of the platform with respect to the base. This design presents several advantages compared to other designs of similar 3-translational-dof parallel manipulators. First, the proposed design uses only revolute or spherical joints as passive joints and hence, it avoids problems that are inherent to the nature of prismatic joints when loaded in arbitrary way. Second, the actuators are chosen to be linear and to be located in the three legs since this design presents higher rigidity than other. In the second part of this paper, we addressed the problem of kinematic analysis of the proposed in-parallel manipulator. A mixed geometric and vector formulation is used to show that two solutions exist for the forward kinematic analysis. The problem of singularities is also investigated using the same method. In this work, we investigated the singularities of the active legs and the two types of singularity were identified: architectural singularities and configurational singularities. The singularity of the passive chains, used to restrict the motion of the platform to only three translations, is also investigated. In the last part of this paper, we built a 3D solid model of the platform and the amplitude of rotation due to the deformation of the different links under some realistic load was determined. This allowed us to estimate the “orientation error” of the platform due to external moments. Moreover, this analysis allowed us to compare the proposed design (over constrained) with a modified one (not over constrained). This comparison confirmed the conclusion that the over constraint design has a better rigidity.

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