Kinematics analysis and workspace optimization for a 4-DOF 3T1R parallel manipulator

2022 ◽  
Vol 167 ◽  
pp. 104484
Author(s):  
Jie Zhao ◽  
Cuncun Wu ◽  
Guilin Yang ◽  
Chin-Yin Chen ◽  
Silu Chen ◽  
...  
Keyword(s):  
Parallel Manipulator ◽  
Kinematics Analysis ◽  
Workspace Optimization

Parametric Design of a Spherical Eight-Bar Linkage Based on a Spherical Parallel Manipulator

2008 ◽  
Vol 1 (1) ◽  
Author(s):  
Gim Song Soh ◽  
J. Michael McCarthy
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Parametric Design ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
End Effector ◽  
Arbitrary Base ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

This paper presents a procedure that determines the dimensions of two constraining links to be added to a three degree-of-freedom spherical parallel manipulator so that it becomes a one degree-of-freedom spherical (8, 10) eight-bar linkage that guides its end-effector through five task poses. The dimensions of the spherical parallel manipulator are unconstrained, which provides the freedom to specify arbitrary base attachment points as well as the opportunity to shape the overall movement of the linkage. Inverse kinematics analysis of the spherical parallel manipulator provides a set of relative poses between all of the links, which are used to formulate the synthesis equations for spherical RR chains connecting any two of these links. The analysis of the resulting spherical eight-bar linkage verifies the movement of the system.

Kinematics Analysis and Singularity Loci of a 4-UPU Parallel Manipulator

2014 ◽  
pp. 467-474 ◽  
Author(s):  
Massimiliano Solazzi ◽  
Massimiliano Gabardi ◽  
Antonio Frisoli ◽  
Massimo Bergamasco
Keyword(s):  
Parallel Manipulator ◽  
Kinematics Analysis

Inverse Kinematics Analysis and Workspace of a New 3-RRRR Parallel Manipulator

Volume 2 ◽  
2004 ◽  
Author(s):  
Mohsen Bahrami ◽  
Iman Ebrahimi Moghaddam
Keyword(s):  
Rigid Body ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
High Speed ◽  
Analytic Solution ◽  
Kinematics Analysis ◽  
Electric Actuation ◽  
The One ◽  
Speed Accuracy ◽  
Robotic Applications

This paper presents a new 3-RRRR parallel manipulator. In the proposed mechanism, the revolute actuators are fixed to the base, which leads to a reduction of the inertia of the moving links and hence makes it attractive, particularly when high-speed motions are required and electric actuation is considered. This manipulator can be used in robotic applications involving the positioning and orientation of a rigid body in the space with high-speed, accuracy and high stiffness or as a simulator or others high-precision or high-speed devices. After introducing the mechanism, inverse kinematics analysis is presented. By the virtue of complexity of analytic solution, an algorithm is utilized which can numerically find possible of solutions and choose the one with applicable configuration. Then the workspace of manipulator is obtained by means of proposed numerical solution.

Kinematics analysis of a novel parallel manipulator

2009 ◽  
Vol 44 (9) ◽  
pp. 1648-1657 ◽  
Author(s):  
Yanbin Zhang ◽  
Hongzhao Liu ◽  
Xin Wu
Keyword(s):  
Parallel Manipulator ◽  
Kinematics Analysis

Workspace Optimization of a Six Degrees of Freedom Parallel Manipulator for Micromachining

2010 ◽  
Author(s):  
Ahmet Agaoglu ◽  
Namik Ciblak ◽  
Koray K. Safak
Keyword(s):  
Numerical Analysis ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Base Plane ◽  
Six Degrees Of Freedom ◽  
Moving Platform ◽  
Workspace Optimization ◽  
Kinematic Diagram ◽  
Orientation Workspace

This work addresses the optimization of the workspace of a six degrees of freedom parallel manipulator. In this study, The topology of the manipulator is composed of three xy-tables, symmetrically positioned on a circle on a base plane, connected by three legs to a moving platform. Kinematic composition of the manipulator is introduced and kinematic diagram is illustrated. Orientation workspace is investigated using three different orientation representations. XYZ fixed angles representation is selected considering the benefits of its visualization are considered. By using this representation, the orientation workspace is modeled and kinematic circuits of the manipulator are explored. First, optimization is performed without slider limitations. A result table is obtained based on the user defined parameters. Secondly, optimization is performed under slider limitations. The maximal orientation capability is optimized using numerical analysis. The optimized configuration of the manipulator indicates that a 330% increase in orientation capability is achieved, compared to the old configuration.

scholarly journals Kinematic Analysis Of Tricept Parallel Manipulator

2012 ◽  
Vol 12 (5) ◽  
Author(s):  
Mir Amin Hosseini ◽  
Hamid-Reza Mohammadi Daniali
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Geometric Constraints ◽  
Design Parameters ◽  
Forward Kinematics ◽  
Jacobian Matrices ◽  
Moving Platforms ◽  
Workspace Optimization

Parallel manipulators consist of fixed and moving platforms connected to each other with some actuated links. They have some significant advantages over their serial counterparts. While, they suffer from relatively small workspaces, complex kinematics relations and highly singular points within their workspaces. In this paper, forward kinematics of Tricept parallel manipulator is solved analytically and its workspace optimization is performed. This parallel manipulator has a complex degree of freedom, therefore leads to dimensional in-homogeneous Jacobian matrices. Thus, we divide some entries of the Jacobian by units of length, thereby producing a new Jacobian that is dimensionally homogeneous. Moreover, its workspace is parameterized using some design parameters. Then, using GA method, the workspace is optimized subjects to some geometric constraints. Finally, dexterity of the design is evaluated. Keywords- Kinematic, Workspace, Singularity, TriceptABSTRAK - Manipulator selari terdiri daripada platform tetap dan bergerak yang bersambung antara satu sama lain dengan beberapa pautan bergerak. Manipulator selari mempunyai beberapa kebaikan tertentu dibandingkan dengan yang bersamaan dengannya. Walaupun ia mempunyai ruang kerja yang sempit, hubungan kinematik kompleks dan titik tunggal tinggi dalam linkungan ruang kerjanya. Dalam kajian ini, kinematik ke hadapan manipulator selari Tricept diselesaikan secara analisa dan pengoptimuman ruang kerja dijalankan. Manipulator selari ini mempunyai darjah kebebasan yang kompleks, yang menyebabkan ia mendorong kepada kehomogenan dimensi matriks Jacobian. Catatan Jacobian dibahagikan kepada unit panjang, dimana ia menghasilkan Jacobian baru yang homogen dimensinya. Tambahan, ruang kerjanya diparameterkan dengan menggunakan beberapa parameter reka bentuk. Kemudian, dengan kaedah GA, ruang kerja mengoptimakan subjek kepada beberapa kekangan geometrik. Akhirnya, kecakatan reka bentuk dinilaikan.Keywords- Kinematic, Workspace, Singularity, Tricept

Sign in / Sign up

Export Citation Format

Share Document