A three translational DoFs parallel cube-manipulator

Robotica ◽  
2003 ◽  
Vol 21 (6) ◽  
pp. 645-653 ◽  
Author(s):  
Xin-Jun Liu ◽  
Jay il Jeong ◽  
Jongwon Kim
Keyword(s):  
Coordinate System ◽  
Degrees Of Freedom ◽  
Parallel Manipulators ◽  
Forward Kinematics ◽  
Cartesian Coordinate System ◽  
Micro Motion ◽  
Moving Platform ◽  
Delta Robot ◽  
Cartesian Coordinate

This paper concerns the presentation and analysis of a type of three translational degrees of freedom (DoFs) parallel cube-manipulator. The parallel manipulators are the topology architectures of the DELTA robot and Tsai's manipulator, respectively, which have three translational DoFs. In the design, the three actuators are arranged according to the Cartesian coordinate system, which means that the actuating directions are normal to each other, and the joints connecting to the moving platform are located on three sides of a cube, for such reason we call this type of manipulator the parallel cube-manipulator. The kinematics problems, singularity, workspace, compliance characteristic of the manipulator are investigated in the paper. The analysis results show that the manipulators have the advantages of no singularities in the workspace, relatively more simple forward kinematics, and existence of a compliance center. The parallel cube-manipulator can be applied to the fields of micro-motion manipulators, remote center compliance (RCC) devices, assembly, and so on.

A 2(3-RRPS) parallel manipulator inspired by Gough–Stewart platform

Robotica ◽  
2012 ◽  
Vol 31 (3) ◽  
pp. 381-388 ◽  
Author(s):  
Jaime Gallardo-Alvarado ◽  
Mario A. García-Murillo ◽  
Eduardo Castillo-Castaneda
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Forward Kinematics ◽  
Triangular Prism ◽  
Input Output ◽  
Six Degrees Of Freedom ◽  
Moving Platform

SUMMARYThis study addresses the kinematics of a six-degrees-of-freedom parallel manipulator whose moving platform is a regular triangular prism. The moving and fixed platforms are connected to each other by means of two identical parallel manipulators. Simple forward kinematics and reduced singular regions are the main benefits offered by the proposed parallel manipulator. The Input–Output equations of velocity and acceleration are systematically obtained by resorting to reciprocal-screw theory. A case study, which is verified with the aid of commercially available software, is included with the purpose to exemplify the application of the method of kinematic analysis.

A Control System of the Transferring Robot in Car Assembly Line

2013 ◽  
Vol 756-759 ◽  
pp. 303-306
Author(s):  
Shi Tie Zhu ◽  
Jia Min Liu ◽  
Hui Mei Liu
Keyword(s):  
Control System ◽  
Coordinate System ◽  
Degrees Of Freedom ◽  
Assembly Line ◽  
Linear Motion ◽  
Cartesian Coordinate System ◽  
Control Scheme ◽  
Ground Plate ◽  
Cartesian Coordinate ◽  
Plate Type

In the car assembly line made from a mix of ground plate-type conveying machinery and suspension conveying machinery, a control scheme of the car body automatically conveyed from the ground conveying machinery to overhead one is proposed, and the specific implementing methods are presented. The transferring robot adopts the Cartesian coordinate system and achieves the devices of lifting car bodies in linear motion along with four degrees of freedom by using four servo motors. The control system presented in this paper consists of the SIEMENS S7-300 T-CPU PLC, SINAMICS S120 servo driver components.

On the Flexural-Torsional Behavior of a Straight Elastic Beam Subject to Terminal Moments

1993 ◽  
Vol 60 (2) ◽  
pp. 498-505 ◽  
Author(s):  
Z. Tan ◽  
J. A. Witz
Keyword(s):  
Coordinate System ◽  
Cross Section ◽  
Equilibrium Equation ◽  
Three Dimensional ◽  
Circular Cross Section ◽  
Elastic Beam ◽  
Cartesian Coordinate System ◽  
Kinematic Constraints ◽  
Torsional Behavior ◽  
Cartesian Coordinate

This paper discusses the large-displacement flexural-torsional behavior of a straight elastic beam with uniform circular cross-section subject to arbitrary terminal bending and twisting moments. The beam is assumed to be free from any kinematic constraints at both ends. The equilibrium equation is solved analytically with the full expression for curvature to obtain the deformed configuration in a three-dimensional Cartesian coordinate system. The results show the influence of the terminal moments on the beam’s deflected configuration.

scholarly journals A Lattice Boltzmann Scheme for Diffusion Equation in Spherical Coordinate

2018 ◽  
Vol 1 (4) ◽  
Author(s):  
Debabrata Datta ◽  
T K Pal
Keyword(s):  
Diffusion Equation ◽  
Coordinate System ◽  
Lattice Boltzmann ◽  
Spherical Coordinate System ◽  
Cartesian Coordinate System ◽  
Spherical Coordinate ◽  
Cartesian Coordinate ◽  
Lattice Boltzmann Models ◽  
Boltzmann Method ◽  
Good Agreement

Lattice Boltzmann models for diffusion equation are generally in Cartesian coordinate system. Very few researchers have attempted to solve diffusion equation in spherical coordinate system. In the lattice Boltzmann based diffusion model in spherical coordinate system extra term, which is due to variation of surface area along radial direction, is modeled as source term. In this study diffusion equation in spherical coordinate system is first converted to diffusion equation which is similar to that in Cartesian coordinate system by using proper variable. The diffusion equation is then solved using standard lattice Boltzmann method. The results obtained for the new variable are again converted to the actual variable. The numerical scheme is verified by comparing the results of the simulation study with analytical solution. A good agreement between the two results is established.

Dynamic Modeling of a Parallel Manipulator With Three Translational Degrees of Freedom

1998 ◽  
Author(s):  
Richard Stamper ◽  
Lung-Wen Tsai
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Close Agreement ◽  
Jacobian Matrix ◽  
Parallel Manipulators ◽  
Kinematic Structure ◽  
End Effector ◽  
Moving Platform ◽  
Euler Approach ◽  
Computationally Intensive

Abstract The dynamics of a parallel manipulator with three translational degrees of freedom are considered. Two models are developed to characterize the dynamics of the manipulator. The first is a traditional Lagrangian based model, and is presented to provide a basis of comparison for the second approach. The second model is based on a simplified Newton-Euler formulation. This method takes advantage of the kinematic structure of this type of parallel manipulator that allows the actuators to be mounted directly on the base. Accordingly, the dynamics of the manipulator is dominated by the mass of the moving platform, end-effector, and payload rather than the mass of the actuators. This paper suggests a new method to approach the dynamics of parallel manipulators that takes advantage of this characteristic. Using this method the forces that define the motion of moving platform are mapped to the actuators using the Jacobian matrix, allowing a simplified Newton-Euler approach to be applied. This second method offers the advantage of characterizing the dynamics of the manipulator nearly as well as the Lagrangian approach while being less computationally intensive. A numerical example is presented to illustrate the close agreement between the two models.

Geometrical Optics

2019 ◽  
pp. 188-214
Author(s):  
B. D. Guenther
Keyword(s):  
Coordinate System ◽  
Ray Tracing ◽  
Geometrical Optics ◽  
Paraxial Approximation ◽  
Cartesian Coordinate System ◽  
Lens System ◽  
Thin Lens ◽  
Aperture Stop ◽  
Sign Convention ◽  
Cartesian Coordinate

Discuss the limits imposed by the paraxial approximation. Define the sign convention based on the cartesian coordinate system, the foiundation of analytic geometery. Demonstrate ray tracing technique to derive the ABCD maxtrix which will generate both the gaussian and Newtonian form of the thin lens equation and the lens maker’s equation. The cardinal points of a lens are also derived. The ABCD matrix is used to explore the methods used in ray tracing to locate the aperture stop of a Cooke’s triplet lens system. In the problem set, the student is asked to use the aperture stop to locate the entrance and exit pupil of a Cooke’s triplet.

scholarly journals Approximate Inertial Coordinate System Selections for Rotation Problems - The Gravitational Field of the Celestial Body Higher than the Object Being Rotated

2015 ◽  
Vol 8 (1) ◽  
pp. 102
Author(s):  
Zifeng Li
Keyword(s):  
Gravitational Field ◽  
Coordinate System ◽  
Celestial Body ◽  
Angular Speed ◽  
Calculation Error ◽  
Cartesian Coordinate System ◽  
Inertial Coordinate System ◽  
The Earth ◽  
The Galaxy ◽  
Cartesian Coordinate

<p class="1Body">Selection of the coordinate system is essential for rotation problems. Otherwise, mistakes may occur due to inaccurate measurement of angular speed. Approximate inertial coordinate system selections for rotation problems should be the gravitational field of the celestial body higher than the object being rotated: (1) the Earth fixed Cartesian coordinate system for normal rotation problem; (2) heliocentric - geocentric Cartesian coordinate system for satellites orbiting the Earth; (3) the Galaxy Heart - heliocentric Cartesian coordinates for Earth's rotation around the Sun. In astrophysics, mass calculation error and angular velocity measurement error lead to a black hole conjecture.</p>

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