Design, implementation, and performance evaluation of a 4-DOF parallel robot

Robotica ◽  
2009 ◽  
Vol 28 (1) ◽  
pp. 107-118 ◽  
Author(s):  
Hee-Byoung Choi ◽  
Atsushi Konno ◽  
Masaru Uchiyama
Keyword(s):  
Performance Evaluation ◽  
Parallel Mechanism ◽  
High Speed ◽  
Parallel Robot ◽  
Necessary Condition ◽  
Parallel Mechanisms ◽  
System Configuration ◽  
Tracking Accuracy ◽  
New Type ◽  
And Performance

SUMMARYThis paper deals with the design, implementation, and performance evaluation of a new type of 4-DOF parallel mechanism providing three translations and one rotation for high-speed handling and machining. This parallel mechanism is named H4. A necessary condition and system configuration of the H4 are also described. Hardware and kinematics of the H4 is addressed and the manipulability ellipsoid which is one of the widely used methods to examine the design of parallel mechanisms is addressed. The performance evaluation is carried out to demonstrate the H4 robot. The simulation and experimental results show that three different controllers, the PD, PD + velocity feed-forward, and dynamic compensation controller, dramatically improve the trajectory tracking accuracy.

scholarly journals Development and performance evaluation of high speed cryogenic turboexpanders at BARC, India

2017 ◽  
Vol 278 ◽  
pp. 012028 ◽  
Author(s):  
A Chakravarty ◽  
R S Menon ◽  
M Goyal ◽  
N Ahmed ◽  
M Jadhav ◽  
...  
Keyword(s):  
Performance Evaluation ◽  
High Speed ◽  
And Performance

Kinematics, Workspace Optimization, and Performance Evaluation of a 3-Leg 6-DOF Robot in RRRS Configuration

2020 ◽  
Author(s):  
Nathan A. Jensen ◽  
Carl A. Nelson
Keyword(s):  
Performance Evaluation ◽  
Degrees Of Freedom ◽  
Experimental Validation ◽  
Parallel Manipulators ◽  
Parallel Robot ◽  
Inverse Kinematic ◽  
And Performance ◽  
Workspace Optimization ◽  
Optimization And Performance

Abstract Underactuated parallel manipulators that achieve 6 DOF via multiple controllable degrees of freedom per leg are often pursued and reported due to their large workspaces. This benefit comes at a cost to the manipulator’s performance, however. Such manipulators must then be evaluated in order to characterize their kinematics in terms of position and motion. This paper establishes a pair of inverse kinematic solutions for a previously proposed and prototyped 3-leg, 6-DOF parallel robot. These solutions are then used to define the robot’s workspace with experimental validation and to optimize the robot’s geometry for maximum workspace volume. The linear components of the Jacobian are then defined, allowing for analysis of the manipulability of the robot. The full Jacobian is also defined, and singularities are examined throughout the workspace of the robot.

scholarly journals Design and Performance Evaluation of a Novel Wearable Parallel Mechanism for Ankle Rehabilitation

2020 ◽  
Vol 14 ◽  
Author(s):  
Shiping Zuo ◽  
Jianfeng Li ◽  
Mingjie Dong ◽  
Xiaodong Zhou ◽  
Wenpei Fan ◽  
...  
Keyword(s):  
Performance Evaluation ◽  
Parallel Mechanism ◽  
Ankle Rehabilitation ◽  
And Performance
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