A new method for optimum design of parallel manipulator based on kinematics and dynamics

2010 ◽  
Vol 61 (4) ◽  
pp. 717-727 ◽  
Author(s):  
Jun Wu ◽  
Liping Wang ◽  
Zheng You
Keyword(s):  
Optimum Design ◽  
Parallel Manipulator ◽  
New Method ◽  
Kinematics And Dynamics

Optimum design of a 4-PSS-PU redundant parallel manipulator based on kinematics and dynamics

2015 ◽  
Vol 230 (13) ◽  
pp. 2273-2284 ◽  
Author(s):  
Liping Wang ◽  
Binbin Zhang ◽  
Jun Wu
Keyword(s):  
Optimum Design ◽  
Parallel Manipulator ◽  
Design Space ◽  
Jacobian Matrix ◽  
Parallel Manipulators ◽  
Search Method ◽  
Kinematics And Dynamics ◽  
Performance Indices ◽  
Maximum Acceleration ◽  
High Acceleration

This paper presents an optimum design of a 4-PSS-PU redundant parallel manipulator by taking the workspace, conditioning performance, and acceleration into account. On the basis of rank of the Jacobian matrix, a method to directly find out the workspace is presented, rather than the search method. Based on the dynamic model, a maximum acceleration index is defined. The corresponding atlases of these performance indices are represented graphically in the established design space. Based on these atlases, the optimum design is performed and the optimum region is determined. It is expected to realize the high acceleration of parallel manipulators by using the optimum method.

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

A new closed-form kinematics of the generalized 3-DOF spherical parallel manipulator

Robotica ◽  
1999 ◽  
Vol 17 (5) ◽  
pp. 475-485 ◽  
Author(s):  
Zhen Huang ◽  
Y. Lawrence Yao
Keyword(s):  
Closed Form ◽  
Analytical Method ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
New Method ◽  
Numerical Example ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

This paper presents a new method to analyze the closed-form kinematics of a generalized three-degree-of-a-freedom spherical parallel manipulator. Using this analytical method, concise and uniform solutions are achieved. Two special forms of the three-degree-of-freedom spherical parallel manipulator, i.e. right-angle type and a decoupled type, are also studied and their unique and interesting properties are investigated, followed by a numerical example.

Kinematics and Dynamics of a Parallel Manipulator With Woven Joints

1993 ◽  
Author(s):  
Hyunsok Pang
Keyword(s):  
Lagrange Multipliers ◽  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Numerical Technique ◽  
Vector Analysis ◽  
Kinematics And Dynamics ◽  
Governing Equations ◽  
Numerical Examples

Abstract Presented is an analysis of the kinematics and the inverse dynamics of a proposed three DOF parallel manipulator resembling the Stewart platform in a general form. In the kinematic analysis, the inverse kinematics, velocity and acceleration analyses are performed, respectively, using vector analysis and general homogeneous transformations. An algorithm to solve the inverse dynamics of the proposed parallel manipulator is then presented using a Lagrangin technique. In this case, it is found that one should introduce and subsequently eliminate Lagrange multipliers in order to arrive at the governing equations. Numerical examples are finally carried out to examine the validity of the approach and the accuracy of the numerical technique employed. The trajectory of motion of the manipulator is also performed using a cubic spline.

Kinematics and Dynamics Modeling of a New 4-DOF Cable-Driven Parallel Manipulator

2013 ◽  
pp. 249-265
Author(s):  
Hamoon Hadian ◽  
Yasser Amooshahi ◽  
Abbas Fattah
Keyword(s):  
Dynamic Model ◽  
Parallel Manipulator ◽  
Joint Space ◽  
Kinematics And Dynamics ◽  
Dynamics Modeling ◽  
Kinematic Constraint ◽  
Control Scheme ◽  
Minimum Number ◽  
Dynamical Properties ◽  
Computed Torque

This paper addresses the kinematics and dynamics modeling of a 4-DOF cable-driven parallel manipulator with new architecture and a typical Computed Torque Method (CTM) controller is developed for dynamic model in SimMechanics. The novelty of kinematic architecture and the closed loop formulation is presented. The workspace model of mechanism’s dynamic is obtained in an efficient and compact form by means of natural orthogonal complement (NOC) method which leads to the elimination of the nonworking kinematic-constraint wrenches and also to the derivation of the minimum number of equations. To verify the dynamic model and analyze the dynamical properties of novel 4-DOF cable-driven parallel manipulator, a typical CTM control scheme in joint-space is designed for dynamic model in SimMechanics.

Kinematics and Dynamics Analysis of Planar 3-RRR Parallel Robots

2012 ◽  
Vol 229-231 ◽  
pp. 582-587 ◽  
Author(s):  
Qing Hua Zhang ◽  
Xian Min Zhang
Keyword(s):  
Energy Consumption ◽  
Dynamic Model ◽  
Optimum Design ◽  
Parallel Robots ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Lagrange Equations ◽  
Active Joint ◽  
Drive Torque ◽  
Moving Platform

Kinematics and dynamics of planar 3-RRR parallel robots are presented. Firstly, kinematic equations of planar 3-RRR parallel robots are given. Then, dynamic model of the system based on Lagrange equations is obtained. Finally, the change of the drive torque and energy consumption of active joints are analyzed under the different trajectories and different loads of the moving platform is given, the results showed that the mass and trajectory of the moving platform have a critical influence on drive torque and energy consumption of the active joint. These are very important for the optimum design of the manipulator and the excellent design of the dynamic controller.

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