Acceleration analysis of 6-RR-RP-RR parallel manipulator with offset hinges by means of a hybrid method

2022 ◽  
Vol 169 ◽  
pp. 104661
Author(s):  
Yang Zhang ◽  
Hasiaoqier Han ◽  
Hui Zhang ◽  
Zhenbang Xu ◽  
Yan Xiong ◽  
...  
Keyword(s):  
Hybrid Method ◽  
Parallel Manipulator ◽  
Acceleration Analysis

An Approach for Acceleration Analysis of Lower Mobility Parallel Manipulator

2010 ◽  
Author(s):  
Haitao Liu ◽  
Tian Huang ◽  
Derek G. Chetwynd
Keyword(s):  
Parallel Manipulator ◽  
Hessian Matrix ◽  
Parallel Manipulators ◽  
Unified Framework ◽  
Generalized Jacobian ◽  
Kinematic Chains ◽  
Lie Bracket ◽  
Lower Mobility ◽  
Acceleration Analysis ◽  
Definition Of

This paper presents an approach for velocity and acceleration analyses of lower mobility parallel manipulators. Based on the definition of the acceleration motor, the forward/inverse velocity and acceleration equations are formulated with the goal to integrate the relevant analyses under a unified framework based on the generalized Jacobian. A new Hessian matrix of serial kinematic chains (or limb) is developed in an explicit and compact form using Lie bracket. This idea is then extended to cover parallel manipulators by considering the loop closure constraints. A 3-PRS parallel manipulator with coupled translational and rotational moving capabilities is taken as example to illustrate the generality and effectiveness of this approach.

scholarly journals Multiobjective Optimization of 6-DOF Parallel Manipulator for Desired Total Orientation Workspace

2019 ◽  
Vol 2019 ◽  
pp. 1-10
Author(s):  
Hongbin Qiang ◽  
Lihang Wang ◽  
Jisong Ding ◽  
Lijie Zhang
Keyword(s):  
Multiobjective Optimization ◽  
Numerical Method ◽  
Hybrid Method ◽  
Parallel Manipulator ◽  
Optimization Method ◽  
Geometric Parameters ◽  
Optimal Range ◽  
Nsga Ii ◽  
Stroke Length ◽  
Orientation Workspace

A desired total orientation workspace for a parallel manipulator is usually an essential requirement in a practical application. At present, for the multiobjective optimization method of 6-DOF parallel manipulator for desired total orientation workspace, it is needed to predefine maximal and minimal lengths of the legs to serve as the constraint, and then the numerical method is used to solve the length of the legs and judge whether the solved maximal and minimal leg lengths meet the constraint. Predefining maximal and minimal length of the legs limits of the optimal range, the numerical method has heavy calculation burden and low calculating accuracy. In this paper, a hybrid method for solving the maximal and minimal lengths of the legs of 6-DOF parallel manipulator with desired total orientation workspace is proposed, and the actuator stroke length is calculated according to the maximal and minimal leg lengths. By judging whether the actuator stroke length can be solved to serve as the constraint, without the predefined maximal and minimal leg lengths to serve as the constraint, the optimal range is enlarged. Aiming at the physical size of the parallel manipulator and the proposed desired workspace condition index (DWCI), the optimization of the geometric parameters of the parallel manipulator is conducted based on the multiobjective optimization algorithm (NSGA-II), which is subject to the actuator stroke length. Stewart platform is set as the example; the geometric parameters of the platform whose workspace contains the desired total orientation workspace are optimized and the hybrid method is proved to be more accurate and efficient compared to the traditional numerical method. This method provides the optimization guidance for engineering designers to design the parallel manipulator for desired total orientation workspace.

An Efficient Inverse Acceleration Analysis of In-Parallel Manipulators

1996 ◽  
Author(s):  
José María Rico Martínez ◽  
Joseph Duffy
Keyword(s):  
Parallel Manipulator ◽  
Computing Time ◽  
Parallel Manipulators ◽  
Simple Expression ◽  
Degree Of Freedom ◽  
Simple Method ◽  
Dynamics And Control ◽  
Acceleration Analysis ◽  
Klein Form ◽  
And Control

Abstract A very simple novel expression for the accelerations of the six prismatic actuators, of the HPS connector chains, of a 6 degree of freedom in-parallel manipulator is derived. The expression is obtained by firstly computing the “accelerator” for a single HPS connector chain in terms of the joint velocities and accelerations. The accelerator is a function of the line coordinates of the joint axes and of a sequence of Lie products of the same line coordinates. A simple expression for the acceleration of the prismatic actuator is obtained by forming the Klein form, or reciprocal product, with the accelerator and the coordinates of the line of the connector chain. Since the Klein form is invariant, the resulting expression can be applied directly to the six HPS connector chains of an in-parallel manipulator. The authors believe that this simple method has important applications in the dynamics and control of these in-parallel manipulators where the computing time must be minimized to improve the behavior of parallel manipulators.

scholarly journals Acceleration Analysis of 3-DOF Planar Parallel Manipulators by Means of Screw Theory

2016 ◽  
Vol 45 (2) ◽  
pp. 89-95
Author(s):  
Soheil Zarkandi
Keyword(s):  
Parallel Manipulator ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Second Order ◽  
Degree Of Freedom ◽  
Planar Parallel Manipulator ◽  
Acceleration Analysis ◽  
Three Degree Of Freedom ◽  
Planar Parallel Manipulators

This paper deals with the second order kinematics of three degree-of-freedom (DOF) planar parallel manipulators. The simple and compact expressions are derived for both the inverse and forward acceleration analyses using screw theory. Moreover, as an example, a 3-DOF planar parallel manipulator is introduced and its kinematics is analyzed using the proposed method.

Treatments of Plankton and Escherichia coli Cells using Hybrid Method with Water Cavitation and Discharge Plasma

2015 ◽  
Vol 135 (6) ◽  
pp. 357-365
Author(s):  
Satoshi Ihara ◽  
Hironori Itoh ◽  
Noriki Kobayashi ◽  
Yuko Inoue ◽  
Hiroaki Terato ◽  
...  
Keyword(s):  
Escherichia Coli ◽  
Hybrid Method ◽  
Discharge Plasma ◽  
I Cells

A Hybrid Method for Distribution Substation Reliability Evaluation

2017 ◽  
Vol 12 (2) ◽  
pp. 142
Author(s):  
Hemakumar Reddy Galiveeti ◽  
Arup Kumar Goswami ◽  
Nalin B. Dev Choudhury
Keyword(s):  
Hybrid Method ◽  
Reliability Evaluation

Item Recommendation Using Hybrid Method

2018 ◽  
Vol 6 (6) ◽  
pp. 266-270
Author(s):  
M. Munafur Hussaina ◽  
R. Parimala
Keyword(s):  
Hybrid Method
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