Dimensional Synthesis of a 2-PRS-PRRU Parallel Manipulator

2016 ◽  
pp. 341-355
Author(s):  
Lingmin Xu ◽  
Qiaohong Chen ◽  
Junhua Tong ◽  
Qinchuan Li
Keyword(s):  
Parallel Manipulator ◽  
Dimensional Synthesis

Synthesis of Parallel Manipulator with Single DOF

2013 ◽  
Vol 330 ◽  
pp. 639-643 ◽  
Author(s):  
Chung Huang Yu ◽  
Wen Yeuan Chung
Keyword(s):  
Parallel Manipulator ◽  
Design Concept ◽  
Path Generation ◽  
Dimensional Synthesis ◽  
Type Synthesis ◽  
Numerical Example ◽  
Geometrical Constraints ◽  
Moving Platform ◽  
Manipulator Design

This paper proposed a new manipulator design concept which leads to a single DOF system. The system composed of a moving platform and several supporting legs. It can execute the tasks of 3D body guidance or path generation and thus replace expensive manipulators with high DOF in some conditions. There are mainly two steps in designing this manipulator. The first step is type synthesis to determine the number and types of legs. Dimensional synthesis is then executed based on the movement requirements and geometrical constraints. In this study the reduction of the DOF is also analyzed for various legs added between the moving platform and the ground. A numerical example of executing 3D body guidance is given to verify the proposed new concept.

Integrated optimal design of a high-speed planar parallel manipulator

2018 ◽  
Vol 233 (9) ◽  
pp. 2976-2990 ◽  
Author(s):  
Zhengsheng Chen ◽  
Minxiu Kong
Keyword(s):  
Optimal Design ◽  
Parallel Manipulator ◽  
High Speed ◽  
Design Method ◽  
Tracking Error ◽  
Dimensional Synthesis ◽  
Tracking Accuracy ◽  
Nsga Ii ◽  
Parameters Tuning ◽  
Planar Parallel Manipulator

To obtain excellent comprehensive performances of the planar parallel manipulator for the high-speed application, an integrated optimal design method, which integrated dimensional synthesis, motors/reducers selection, and control parameters tuning, is proposed, and the 3RRR parallel manipulator was taken as the example. The kinematic and dynamic performances of condition number, velocity index, acceleration capability, and low-order frequency are taken into accounts for the dimensional synthesis. Then, to match motors/reducers parameters and keep an economical cost, the constraint equations and the parameters library are built, and the cost is chosen as one of the optimization objectives. Also, to get high tracking accuracy, the dynamic forward plus proportional–derivative control scheme is introduced, and the tracking error is chosen as one of the optimization objectives. Hence, the optimization model including dimensional synthesis, motors/reducers selection and controller parameters tuning is established, which is solved by the genetic algorithm II (NSGA-II). The result shows that comprehensive performances can be effectively promoted through the proposed integrated optimal design, and the prototype was constructed according to the Pareto-optimal front.

Kinematics and Dimensional Synthesis of a Novel 2RPU-PUR Parallel Manipulator

2021 ◽  
pp. 754-765
Author(s):  
Wenxi Ji ◽  
Zhentao Xie ◽  
Xinxue Chai
Keyword(s):  
Parallel Manipulator ◽  
Dimensional Synthesis

Dimensional Synthesis of a Novel 2T2R Parallel Manipulator for Medical Applications

2014 ◽  
Author(s):  
Nitish Kumar ◽  
Olivier Piccin ◽  
Bernard Bayle
Keyword(s):  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Screw Theory ◽  
Structural Parameters ◽  
Geometric Analysis ◽  
Medical Applications ◽  
Dimensional Synthesis ◽  
Synthesis Algorithm ◽  
Percutaneous Procedures ◽  
Actuated Joints

This paper deals with the dimensional synthesis of a novel parallel manipulator for medical applications. This parallel mechanism has a novel 2T2R mobility derived from the targeted application of needle manipulation. The kinematic design of this 2T2R manipulator and its novelty are illustrated in relation to the percutaneous procedures. Due to the demanding constraints on its size and compactness, achieving a large workspace especially in orientation, is a rather difficult task. The workspace size and kinematic constraint analysis are considered for the dimensional synthesis of this 2T2R parallel mechanism. A dimensional synthesis algorithm based on the screw theory and the geometric analysis of the singularities is described. This algorithm also helps to eliminate the existence of voids inside the workspace. The selection of the actuated joints is validated. Finally, the dimensions of the structural parameters of the mechanism are calculated for achieving the required workspace within the design constraints of size, compactness and a preliminary prototype without actuators is presented.

Considering the Ability for Nonsingular Transitions of Assembly Mode for Dimensional Synthesis

2009 ◽  
Author(s):  
Oscar Altuzarra ◽  
Vi´ctor Petuya ◽  
Mo´nica Uri´zar ◽  
Alfonso Herna´ndez
Keyword(s):  
Parallel Manipulator ◽  
Analytical Procedure ◽  
Parallel Manipulators ◽  
Dimensional Synthesis ◽  
Complex Singularity ◽  
Algebraic Expressions ◽  
Free Region ◽  
Dimensional Parameters ◽  
Cusp Points ◽  
Singularity Locus

An important difficulty in the design of parallel manipulators is their reduced practical workspace, due mainly to the existence of a complex singularity locus within the workspace. The workspace is divided into singularity-free regions according to assembly modes and working modes, and the dimensioning of parallel manipulators aims at the maximization of those regions. It is a common practice to restrict the manipulator’s motion to a specific singularity-free region. However, a suitable motion planning can enlarge the operational workspace by means of transitions of working mode and/or assembly mode. In this paper, the authors present an analytical procedure for obtaining the loci of cusp points of a parallel manipulator as algebraic expressions of its dimensional parameters. The purpose is to find an optimal design for non-singular transitions to be possible.

Kinematic Synthesis of a Spatial 3-RPS Parallel Manipulator

2003 ◽  
Vol 125 (1) ◽  
pp. 92-97 ◽  
Author(s):  
Han Sung Kim ◽  
Lung-Wen Tsai
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Parallel Manipulators ◽  
Point Of View ◽  
Dimensional Synthesis ◽  
Kinematic Synthesis ◽  
End Effector ◽  
Solution Methods ◽  
Moving Platform ◽  
At Will

This paper presents the design of spatial 3-RPS parallel manipulators from dimensional synthesis point of view. Since a spatial 3-RPS manipulator has only 3 degrees of freedom, its end effector cannot be positioned arbitrarily in space. It is shown that at most six positions and orientations of the moving platform can be prescribed at will and, given six prescribed positions, there are at most ten RPS chains that can be used to construct up to 120 manipulators. Further, solution methods for fewer than six prescribed positions are also described.

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