A Comparative Study of Different Numerical Scanning Strategies for Finding the Safe Working Zone of a 3-DoF Parallel Manipulator

Author(s):  
Bibekananda Patra ◽  
V. Safar ◽  
Sandipan Bandyopadhyay
Author(s):  
Dhruvesh Patel ◽  
Rohit Kalla ◽  
Halil Tetik ◽  
Gökhan Kiper ◽  
Sandipan Bandyopadhyay

Robotica ◽  
2019 ◽  
Vol 38 (5) ◽  
pp. 861-885 ◽  
Author(s):  
Murali K. Karnam ◽  
Aravind Baskar ◽  
Rangaprasad A. Srivatsan ◽  
Sandipan Bandyopadhyay

SUMMARYThis paper presents the computation of the safe working zone (SWZ) of a parallel manipulator having three degrees of freedom. The SWZ is defined as a continuous subset of the workspace, wherein the manipulator does not suffer any singularity, and is also free from the issues of link interference and physical limits on its joints. The proposed theory is illustrated via application to two parallel manipulators: a planar 3-R̲RR manipulator and a spatial manipulator, namely, MaPaMan-I. It is also shown how the analyses can be applied to any parallel manipulator having three degrees of freedom, planar or spatial.


Author(s):  
Parth Y. Patel ◽  
Gemunu Happawana ◽  
Vladimir V. Vantsevich ◽  
David Boger ◽  
Chris Harned

Abstract Utility trucks are the first responders in extreme climate and severe weather situations, for saving people’s lives to restoring traffic on the roads. However, such trucks can create dangerous situations on the roads, and off-road conditions, while moving, and performing tasks. Trucks equipped with large booms for reaching elevated heights can become unstable due to their geometry change, which can cause a drastic variation of the truck-boom system’s moment of inertia, and the extreme weight re-distribution among the wheels. Morphing capabilities of the utility trucks need to be investigated together with the vehicle-road forces in order to hold the vehicle safe on the roads. In this research paper, static analysis and range of the normal reaction at the wheel of the utility truck is performed to characterize a safe working zone of the boom equipment when the truck is in the flat and titled surface. The analysis is performed for 5-degree of freedom boom equipment with revolute and translational joints in a complex constrained space given by the truck design using 3D moment and force-vector analysis. The possible morphing configuration of the boom equipment is examined in order to define static normal reactions at the wheel-road interaction. Further, the morphing of the boom equipment is investigated to determine limiting configurations that can be reached without rolling over the truck. In this analysis, it is assumed that the wheels provide enough friction between the tires and road so that tire slippage does not extensively occur, and the utility truck is assumed as a rigid body. In this study, utility truck equipped with boom equipment is utilized in this study for numerical illustration.


2017 ◽  
Vol 107 ◽  
pp. 396-399 ◽  
Author(s):  
Sean M. Barber ◽  
Zain Boghani ◽  
William Steele ◽  
J. Bob Blacklock ◽  
Todd Trask ◽  
...  

2021 ◽  
Author(s):  
Reza Ghasemi ◽  
Majid Elyasi ◽  
Hamid Baseri ◽  
Mohammad Javad Mirnia

Abstract Nowadays, one of the metal forming processes that are widely used in industries is sheet hydroforming. Because of high complexity and sensitivity, this process needs precise calculations in the die and method to control metal flow correctly and prevent defects. Therefore recently, new processes were combined to this process to increase precision and effectiveness. For example, ultrasonic vibration assistance forming. Using hydroforming and ultrasonic vibration as new methods were studied in several research types separately, and each of them redounded to different analyses and improvements in the process. Even synchronic use of these two methods was studied in some metal forming processes such as tube hydroforming, but it has not been studied in sheet hydroforming. Therefore the aim of this research is the experimental study of St14 sheet hydroforming ultrasonic vibration assistance. For this purpose, ultrasonic vibration (with 20 KHz frequency and 4μm amplitude) was applied to a hydromechanical deep drawing die into punch radial in the hydroforming process. Then process parameters consisting of LDR, maximum height, forming force, safe working zone, and thickness distribution were determined and compared in four case states conventional deep drawing(CDD), hydroforming deep drawing(HDD), ultrasonic vibration assistance deep drawing(UDD) and ultrasonic vibration assistance hydroforming deep drawing(UHDD). Results indicated that applying ultrasonic vibration into the sheet hydroforming process increases LDR and the maximum height of the cup, decreases forming force and develops a safe working zone. Also was very effective in thickness distribution and decrease of sheet thinning in critical sections.


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