scholarly journals Kinematics and workspace analysis of a three-axis parallel manipulator: the Orthoglide

Robotica ◽  
2005 ◽  
Vol 24 (1) ◽  
pp. 39-49 ◽  
Author(s):  
A. Pashkevich ◽  
D. Chablat ◽  
P. Wenger
Keyword(s):  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Singularity Analysis ◽  
Mobile Platform ◽  
Workspace Analysis ◽  
Axis Parallel ◽  
Fixed Orientation ◽  
Joint Limit ◽  
Direct Kinematics

The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three identical legs and a mobile platform, which moves in the Cartesian x-y-z space with fixed orientation. New solutions to solve inverse/direct kinematics are proposed, and we perform a detailed workspace and singularity analysis, taking into account specific joint limit constraints.

Workspace Analysis of Parallel Manipulator for Telemicromanipulation Systems

2001 ◽  
Vol 13 (5) ◽  
pp. 488-496 ◽  
Author(s):  
Noriaki Ando ◽  
◽  
Masahiro Ohta ◽  
Kohei Gonda ◽  
Hideki Hashimoto
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Parallel Mechanisms ◽  
Dual Systems ◽  
Position Accuracy ◽  
Control Scheme ◽  
Workspace Analysis ◽  
Manipulator Control ◽  
Vr Simulator

This paper describes the research results on telemicromanipulation systems for microlevel tasks. Because of its better manipulation precision, stiffness and speed characteristics, the parallel mechanism micromanipulator was chosen to compose our systems. First, the kinematic analysis of our original manipulator mechanism is performed. Then, the structure of our parallel manipulator, control scheme, and experimental results are shown. Position accuracy and device control characteristics are analyzed and the feasibility of the use of parallel mechanisms for micromanipulator is then discussed. A parallel manipulator motion is restricted by 3 factors: mechanical limits of the passive joints, collision between links and actuators limitations. Results of the numerical workspace analysis considering the above factors are shown. We are proposing the use of dual manipulators for implementing improved real manipulation systems. The first kinematics and workspace analysis of dual systems using the VR simulator are also shown.

Research on the Configurations and Singularity of Serial-Parallel Mechanism

2011 ◽  
Vol 393-395 ◽  
pp. 265-268
Author(s):  
Jian Guo Luo ◽  
Mao Yan He
Keyword(s):  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Synthesis Method ◽  
Singularity Analysis ◽  
Degree Of Freedom ◽  
Spatial Mobility

Methods to analysis the DOF(degree of freedom) and singularity of pure serial and pure parallel manipulator, which can not be used to the serial-parallel manipulator directly, three type of practical topological units and one type of virtual topological unit adopted, Synthesis method of topological dimensionality of the spatial mobility of each topological unit integrated together, architectures of serial-paralle mechanism discussed, also the formula and process of its topological dimensionality of spatial mobility presented, singularity analysis of serial-parallel mechanism can be carried out based on the forgoing results.

Kinematics and Singularity Analyses of a 2-RPU&SPR Parallel Manipulator

2013 ◽  
Vol 441 ◽  
pp. 568-571
Author(s):  
Jian Hui Fan ◽  
Bin Li ◽  
Xin Hua Zhao
Keyword(s):  
Numerical Simulations ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Algebraic Method ◽  
Singularity Analysis

In this paper, kinematics and singularity of a 2-RPU&SPR parallel mechanism are analyzed by algebraic method. Firstly, the inverse kinematics of the parallel mechanism is derived. Secondly, the Jacobian matrix of the parallel mechanism is obtained and the singularity of the mechanism is analyzed. Finally, the correctness of singularity analysis of the mechanism is verified by numerical simulations.

Workspace analysis and performance of a binary actuated parallel manipulator with flexural joints

2003 ◽  
Vol 217 (3) ◽  
pp. 313-330 ◽  
Author(s):  
E Ottaviano ◽  
G Carbone ◽  
M Ceccarelli
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Parallel Manipulator ◽  
Mechanical Design ◽  
Parallel Architecture ◽  
Workspace Analysis ◽  
Position And Orientation ◽  
And Performance ◽  
Direct Kinematics ◽  
Flexural Joints

In this paper the design of a miniaturized parallel architecture is investigated in terms of basic performances concerning mobility and workspace characteristics. The miniature requirements have been achieved with a milli-scaled parallel manipulator requiring flexural joints and binary actuation with shape memory alloy wires or small pneumatic pistons. The mechanical design is analysed by considering the mobility of the flexural joints in order to size them and model the kinematics of the joints. The reachability is analysed through a suitable formulation of the direct kinematics by also taking into account binary actuation. Workspace performance has been determined in terms of position and orientation capabilities.

A Parallelogram-Based Parallel Manipulator for Schönflies Motion

2006 ◽  
Vol 129 (12) ◽  
pp. 1243-1250 ◽  
Author(s):  
Oscar Salgado ◽  
Oscar Altuzarra ◽  
Enrique Amezua ◽  
Alfonso Hernández
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Kinematic Chain ◽  
Singularity Analysis ◽  
End Effector ◽  
Fixed Direction ◽  
Axis Parallel ◽  
Schönflies Motion ◽  
4 Degrees Of Freedom

A parallelogram-based 4 degrees-of-freedom parallel manipulator is presented in this paper. The manipulator can generate the so-called Schönflies motion that allows the end effector to translate in all directions and rotate around an axis parallel to a fixed direction. The theory of group of displacements is applied in the synthesis of this manipulator, which employs parallelograms in every limb. The planar parallelogram kinematic chain provides a high rotational capability and an improved stiffness to the manipulator. This paper shows the kinematic analysis of the manipulator, including the closed-form resolution of the forward and inverse position problems, the velocity, and the singularity analysis. Finally, a prototype of the manipulator, adding some considerations about its singularity-free design, and some technical applications in which the manipulator can be used are presented.

Singularity analysis and avoidance of a planar parallel mechanism with kinematic redundancy under a fixed orientation

2020 ◽  
pp. 095440622097671
Author(s):  
Haibo Qu ◽  
Lanqing Hu ◽  
Sheng Guo
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Singularity Analysis ◽  
Kinematic Redundancy ◽  
Comparison Analysis ◽  
Singularity Avoidance ◽  
Singular Configurations ◽  
Fixed Orientation ◽  
Free Transition ◽  
Singular Configuration

In this paper, the singularity of a planar mechanism with kinematic redundancy is studied. First, the architecture of the mechanism and the concept schematic diagram for singularity avoidance are stated. Next, inverse kinematics model of the planar parallel mechanism with kinematic redundancy is established. For determining the unique inverse solution of the mechanism under certain initial installation configuration, a comparison analysis based on the strategy tree and the virtual prototype is performed. Then, based on the obtained Jacobian matrices and the singular condition, the workspace-singularity map and two singular configurations of the mechanism are drawn. Finally, with the obtained workspace-singularity map, a singularity-free transition layer and an aisle can be found to perform to singularity avoidance, even if the initial designed trajectory passing through the second kind of singularity. Three tasks are carried out to illustrate that the workspace boundary and singular configuration can be changed by adjusting the kinematic redundant actuated parameter.

A Parallelogram-Based Parallel Manipulator For Scho¨nflies Motion

2006 ◽  
Author(s):  
Oscar Salgado ◽  
Oscar Altuzarra ◽  
Enrique Amezua ◽  
Alfonso Herna´ndez
Keyword(s):  
Closed Form ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Kinematic Chain ◽  
Singularity Analysis ◽  
End Effector ◽  
Fixed Direction ◽  
Axis Parallel

A parallelogram-based four degrees-of-freedom parallel manipulator is presented in this paper. The manipulator can generate the so-called Scho¨nflies motion, that allows the end-effector to translate in all directions and rotate around an axis parallel to a fixed direction. The Theory of Group of Displacements is applied in the synthesis of this manipulator, which employs parallelograms in every limb. The planar parallelogram kinematic chain provides a high rotational capability and a improved stiffness to the manipulator. The paper shows the kinematic analysis of the manipulator, including the closed-form resolution of the forward and inverse position problems, the velocity and the singularity analysis. Finally, a prototype of the manipulator and some technical applications in which the manipulator can be used are presented.

Determination of the Workspace of Parallel Manipulators Using a CAD Software and the Concept of Virtual Chains

2013 ◽  
Author(s):  
Andrew Johnson ◽  
Xianwen Kong
Keyword(s):  
Parallel Manipulator ◽  
Graphical Representation ◽  
Three Dimensional ◽  
Parallel Manipulators ◽  
Singularity Analysis ◽  
Parallel Robots ◽  
Performance Indices ◽  
Workspace Analysis ◽  
Static Calculation

Development of a new parallel manipulator can be very time consuming due to the traditional method of producing kinematic, dynamic and static calculation models and then evaluating them to determine aspects of the manipulator’s performance indices such as the mechanism’s workspace and singularity analysis. By extending the virtual chain approach to the type synthesis of parallel manipulators, this paper proposes a virtual-chain approach to the workspace analysis of parallel manipulators. This method is illustrated by producing and evaluating the workspace of several parallel robots including the well known DELTA robot by utilising the three-dimensional CAD software SolidWorks to produce a virtual prototype of a manipulator with an embedded virtual chain. The virtual chain represents the motion pattern of a manipulator’s end-effector and is very useful in the production of a graphical representation of the workspace of the manipulator. Using this approach, the link interferences and transmission indices can be easily taken into consideration in determining the workspace of a parallel manipulator.

Motion Characteristics Analysis of a Novel 2R1T 3-UPU Parallel Mechanism

2019 ◽  
Vol 142 (1) ◽  
Author(s):  
Chen Zhao ◽  
Ziming Chen ◽  
Yanwen Li ◽  
Zhen Huang
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Speed Control ◽  
Singularity Analysis ◽  
Mobile Platform ◽  
Rotational Axis ◽  
Constraint Forces ◽  
Parasitic Motion ◽  
Motion Characteristics

Abstract In this paper, a novel 3-UPU (P and U stand for prismatic and universal joints, respectively) parallel mechanism (PM) and its variant PM are proposed. Both of them have two rotational and one translational (2R1T) degrees of freedom (DOFs) without involving any parasitic motion. Mobility analysis shows that the three constraint forces provided by three limbs of the mechanism are located on the same plane and the mobile platform can translate perpendicular to this plane and rotate around any axis on it. Analysis of the mechanism’s motion characteristics demonstrates that the mobile platform outputs either pure rotation or pure translation. Moreover, the rotational axis can be fixed during the rotation process, which means no parasitic motion is involved. The causes of the motion characteristics are analyzed by the combination of an overall Jacobian matrix, a statistical method, and a geometric method. The PMs only need to translate or rotate once to move from the initial configuration to the final configuration, which allows for easy control of speeds. The relationship between mechanism parameters and singularity is analyzed. A speed control method for the PMs is proposed and a prototype is designed and made. Experiments are conducted to verify the determined motion characteristics, the speed control method, and the singularity analysis.

Kinematics and Dexterity Analysis for a Novel Hybrid Kinematic Machine

2012 ◽  
Vol 516 ◽  
pp. 420-425
Author(s):  
Hong Jian Yu ◽  
Bing Li ◽  
Yang Wang ◽  
Ying Hu
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Parametric Design ◽  
Linear Motion ◽  
Experiment Research ◽  
Workspace Analysis ◽  
Parallel Kinematic Mechanism ◽  
Parallel Kinematic ◽  
Kinematic Mechanism ◽  
Direct Kinematics

In this paper a novel 4 Degree-of-Freedom (DOF) parallel mechanism with the configuration of 4PUS-1RPU is applied for a 5-axis Hybrid Kinematic Machine (HKM), combined with an additional linear motion. The Parallel Kinematic Mechanism (PKM) is composed of four symmetrical driving chains and one central passive sub-chain. Firstly, the mechanism is described, and the mobility is analyzed. Then the inverse kinematics of the 4-DOF PKM and the direct kinematics for the serial central sub-chain are then presented. The dexterity and the workspace analysis for the mechanism are also carried out. Finally, machining experiment research is presented to verify the effect of the prototype. The research provides the basis for the further parametric design with consideration of kinematic and dexterity performance.

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