Optimum Design of a Planar 3-DOF Parallel Manipulator for Good Motion and Force Transmissibility

2012 ◽  
pp. 240-249
Author(s):  
Jie Yang ◽  
Yongzhi Hua
Keyword(s):  
Optimum Design ◽  
Parallel Manipulator ◽  
Force Transmissibility

Performance evaluation of a special 6-PUS type parallel manipulator

Robotica ◽  
2021 ◽  
pp. 1-15
Author(s):  
Xiaochu Liu ◽  
Yunfei Cai ◽  
Weitian Liu ◽  
Linlong Zhang ◽  
Chengxin Hu
Keyword(s):  
Performance Evaluation ◽  
Natural Frequency ◽  
Parallel Manipulator ◽  
Screw Theory ◽  
Shaking Table ◽  
Axial Stiffness ◽  
Neutral Position ◽  
Dynamics Model ◽  
Force Transmissibility ◽  
Kane Method

Abstract In this paper, a special 6-PUS parallel manipulator (PM) is utilized as a shaking table. Unlike the existing results about 6-PUS PMs, we make the actuator direction collinear with the linkage direction at neutral position. With respect to the application background, a further analysis of the special PM is carried out from the perspective of motion/force transmissibility, natural frequency and acceleration capability. Specially, the complete dynamics model is established based on the Kane method. Then, generalized transmission indices based on the screw theory are utilized to reflect its motion ability, and a model of natural frequency is proposed with the axial stiffness of linkages considered. Finally, the effect of the angle between the actuator direction and the linkage direction α on various performances is analyzed, and other results are included to illustrate its feasibility and usability.

Atlas based kinematic optimum design of the Stewart parallel manipulator

2014 ◽  
Vol 28 (1) ◽  
pp. 20-28 ◽  
Author(s):  
Zhufeng Shao ◽  
Xiaoqiang Tang ◽  
Liping Wang ◽  
Dengfeng Sun
Keyword(s):  
Optimum Design ◽  
Parallel Manipulator

Performance Evaluation of a 2-DOF Planar Parallel Manipulator

2011 ◽  
Vol 121-126 ◽  
pp. 2829-2833
Author(s):  
Xiao Rong Zhu ◽  
Hui Ping Shen
Keyword(s):  
Machine Tools ◽  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Forward Kinematics ◽  
Planar Parallel Manipulator ◽  
Velocity Equation ◽  
Force Transmissibility ◽  
Inverse Dynamics Problem ◽  
Linear Actuators ◽  
Mobile Base

In this paper, a 2-DOF planar parallel manipulator actuated horizontally by linear actuators is proposed. The inverse and forward kinematics can be described in closed form. The velocity equation, singularity of the manipulator and the conditioning index is investigated. In addition, the inverse dynamics problem of the device is investigated employing the Lagrange approach. The dynamic simulation is carried out. The results show that the kinematics performance and the force transmissibility are worse when the end-effecter moves near the singularity. The proposed manipulator can be applied to the field of machine tools or used as the mobile base for a spatial manipulator. The results of the paper are very useful for the design and application of the new manipulator.

Optimal Design of Spherical 5R Parallel Manipulators Considering the Motion/Force Transmissibility

2010 ◽  
Vol 132 (3) ◽  
Author(s):  
Chao Wu ◽  
Xin-Jun Liu ◽  
Liping Wang ◽  
Jinsong Wang
Keyword(s):  
Performance Evaluation ◽  
Optimal Design ◽  
Parallel Manipulator ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Dimensional Synthesis ◽  
Force Transmission ◽  
Minimally Invasive Surgical ◽  
Pointing Device ◽  
Force Transmissibility

The spherical 5R parallel manipulator is a typical parallel manipulator. It can be used as a pointing device or as a minimally invasive surgical robot. This study addresses the motion/force transmission analysis and optimization of the manipulator by taking into account the motion/force transmissibility. The kinematics of the manipulator is analyzed. Several transmission indices are defined by using screw theory for the performance evaluation and dimensional synthesis. The process of determining the optimal angular parameters based on performance charts is presented. The manipulator that has a large workspace and good motion/force transmissibility is identified.

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