Kinematic analysis and comparison of a 2R1T redundantly actuated parallel manipulator and its non-redundantly actuated forms

This paper presents the geometry and the kinematic analysis of a parallel manipulator developed for ankle rehabilitation, as the beginning of a control system design process. First the geometry of the parallel mechanism is described, secondly the equations for the inverse and the forward kinematics are obtained, then the forward kinematics is analyzed in order to define all the possible configurations of the moving platform. Finally the Jacobian matrix of the rig is obtained by differentiating the position equations and the singularities are investigated, comparing the non-redundant and redundant type of mechanism.

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Kinematic Analysis of a Macro–Micro Redundantly Actuated Parallel Manipulator

Advanced Robotics ◽

10.1163/156855308x305263 ◽

2008 ◽

Vol 22 (6-7) ◽

pp. 657-687 ◽

Cited By ~ 37

Author(s):

Hamid D. Taghirad ◽

Meyer Nahon

Keyword(s):

Kinematic Analysis ◽

Parallel Manipulator ◽

Redundantly Actuated

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Kinematic Analysis and Workspace of a New Four Legged 3-Dof Parallel Manipulator with No Parasitic Motions

i-manager’s Journal on Future Engineering and Technology ◽

10.26634/jfet.11.4.8115 ◽

2016 ◽

Vol 11 (4) ◽

pp. 39

Author(s):

MANDALAPARTHY HARISH ◽

RAO N MOHAN ◽

◽

Keyword(s):

Kinematic Analysis ◽

Parallel Manipulator

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Integrated Kinematic Calibration for All the Parameters of a Planar 2DOF Redundantly Actuated Parallel Manipulator

Journal of Mechanisms and Robotics ◽

10.1115/1.3147199 ◽

2009 ◽

Vol 1 (3) ◽

Cited By ~ 5

Author(s):

Chunshi Feng ◽

Shuang Cong ◽

Weiwei Shang

Keyword(s):

Parallel Manipulator ◽

Closed Loop ◽

Open Loop ◽

Kinematic Calibration ◽

Constraint Equations ◽

Integrated Method ◽

Uniqueness Of The Solution ◽

Redundantly Actuated ◽

Loop Constraint ◽

Two Degree Of Freedom

In this paper, the kinematic calibration of a planar two-degree-of-freedom redundantly actuated parallel manipulator is studied without any assumption on parameters. A cost function based on closed-loop constraint equations is first formulated. Using plane geometry theory, we analyze the pose transformations that bring infinite solutions and present a kinematic calibration integrated of closed-loop and open-loop methods. In the integrated method, the closed-loop calibration solves all the solutions that fit the constraint equations, and the open-loop calibration guarantees the uniqueness of the solution. In the experiments, differential evolution is applied to compute the solution set, for its advantages in computing multi-optima. Experimental results show that all the parameters involved are calibrated with high accuracy.

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Optimal design of a redundant spherical parallel manipulator

Robotica ◽

10.1017/s0263574797000490 ◽

1997 ◽

Vol 15 (4) ◽

pp. 399-405 ◽

Cited By ~ 47

Author(s):

Sylvie Leguay-Durand ◽

Claude Reboulet

Keyword(s):

Optimal Design ◽

Kinematic Analysis ◽

Parallel Manipulator ◽

Structure Optimization ◽

Kinematic Design ◽

Spherical Wrist ◽

Redundant Structure ◽

Spherical Parallel Manipulator

A new kinematic design of a parallel spherical wrist with actuator redundancy is presented. A special feature of this parallel manipulator is the arrangement of co-axial actuators which allows unlimited rotation about any axis inside a cone-shaped workspace. A detailed kinematic analysis has shown that actuator redundancy not only removes singularities but also increases workspace while improving dexterity. The structure optimization has been performed with a global dexterity criterion. Using a conditioning measure, a comparison with a non-redundant structure of the same type was performed and shows that a significant improvement in dexterity has been obtained.

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Kinematic Analysis of a Novel 3-DOF Parallel Mechanism with Actuation Redundancy

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.816-817.821 ◽

2013 ◽

Vol 816-817 ◽

pp. 821-824

Author(s):

Xue Mei Niu ◽

Guo Qin Gao ◽

Zhi Da Bao

Keyword(s):

Kinematic Analysis ◽

Parallel Mechanism ◽

Rbf Neural Network ◽

Analysis Method ◽

Parallel Kinematic Mechanism ◽

Redundantly Actuated ◽

Parallel Kinematic ◽

Forward Kinematic ◽

Kinematic Mechanism ◽

Kinematic Solution

Kinematic analysis plays an important role in the research of parallel kinematic mechanism. This paper addresses a novel forward kinematic solution based on RBF neural network for a novel 2PRRR-PPRR redundantly actuated parallel mechanism. Simulation results illustrate the validity and feasibility of the kinematic analysis method.

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