Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application

2010 ◽  
Vol 24 (5) ◽  
pp. 1151-1162 ◽  
Author(s):  
Jung Won Yoon ◽  
Jeha Ryu ◽  
Yoon-Kwon Hwang
Keyword(s):  
Optimum Design ◽  
Parallel Manipulator ◽  
Haptic Device ◽  
Device Application

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

Determination of the Link Lengths for a Spatial 3-DOF Parallel Manipulator

2005 ◽  
Vol 128 (2) ◽  
pp. 365-373 ◽  
Author(s):  
Xin-Jun Liu ◽  
Jinsong Wang ◽  
Jongwon Kim
Keyword(s):  
Optimum Design ◽  
Parallel Manipulator ◽  
Design Space ◽  
Graphical Representation ◽  
Geometric Parameters ◽  
Performance Criteria ◽  
Design Parameters ◽  
Design Result ◽  
Basic Similarity

This paper addresses the issue of determining the optimal geometric parameters of a 3-DOF parallel manipulator. One of the advantages of the manipulator is that the moving platform exhibits high tilting capabilities, e.g., as much as ±50deg. The first step of the new optimal methodology proposed in this paper to achieve the optimum design involves developing a design space that includes all possible basic similarity manipulators. The next step deals with the graphical representation of atlases that can illustrate relationships between performance criteria and design parameters. With such atlases, the designer can identify an optimum region with respect to the specification on performances. The region contains the optimum candidates, from which we can select one directly. Finally, the geometric parameters of the manipulator can be reached by comparing the desired workspace and the good-conditioning workspace. The design methodology discussed in this paper has no process to establish the objective function and does not involve any optimization algorithm, which is normally used in traditional optimization. We expect that since each manipulator in the developed design space represents all of its similarity manipulators in terms of performances, this method will guarantee an optimum design result.

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

Redundantly actuated 3-RRR spherical parallel manipulator used as a haptic device: improving dexterity and eliminating singularity

Robotica ◽  
2014 ◽  
Vol 33 (5) ◽  
pp. 1113-1130 ◽  
Author(s):  
Houssem Saafi ◽  
Med Amine Laribi ◽  
Said Zeghloul
Keyword(s):  
Dynamic Behavior ◽  
Control Strategy ◽  
Parallel Manipulator ◽  
Haptic Device ◽  
Mechanical Structure ◽  
Singular Configurations ◽  
Redundantly Actuated ◽  
Spherical Parallel Manipulator

SUMMARYThis paper discusses the study of a spherical parallel manipulator (SPM) used as a haptic device for tele-operation applications. The SPM presents poor behavior in singular configurations. Redundancy is used to eliminate the parallel singularity without major changes in the mechanical structure. Comparisons in terms of kinematic and dynamic behavior between the non-redundant and redundant SPM are presented. The results prove the advantage of introducing redundancy in the actuator and sensor to improve the behavior of the SPM. A new control strategy for the redundant SPM is also proposed. The control strategy has been successfully tested and validated on a SimMechanics model.

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