Dimensional synthesis of a 3UPS-PRU parallel robot

Robotica ◽  
2017 ◽  
Vol 35 (12) ◽  
pp. 2319-2329 ◽  
Author(s):  
Yongjie Zhao ◽  
Gang Cheng
Keyword(s):  
Angular Velocity ◽  
Objective Function ◽  
Rotation Angle ◽  
Parallel Robot ◽  
Linear Velocity ◽  
Dimensional Synthesis ◽  
Joint Rotation ◽  
Building Cost ◽  
Moving Platform ◽  
Arbitrary Axis

SUMMARYThis paper introduces the methodology of the dimensional synthesis for a 3UPS-PRU parallel robot. The dimensional synthesis of the 3UPS-PRU parallel robot is proposed considering the maximum input velocity of actuating joints as the objective function and constraints on the installation dimension, robot dimension, joint rotation angle and interference. The objective of the dimensional synthesis is to minimize the maximum input velocity of actuating joints when the moving platform translates along the z-axis in the maximum linear velocity and rotates about an arbitrary axis in the maximum angular velocity in the desired workspace. The constraint on the robot dimension is included in the dimensional synthesis of the 3UPS-PRU parallel robot when pursuing the kinematic property to meet the miniaturization principle with the reduced building cost. An example of the dimensional synthesis of a 3UPS-PRU parallel robot is presented with the maximum linear velocity and angular velocity required for the moving platform in the desired workspace.

scholarly journals Dynamic optimum design of a 3UPS-PRU parallel robot

2016 ◽  
Vol 13 (6) ◽  
pp. 172988141667617 ◽  
Author(s):  
Yongjie Zhao
Keyword(s):  
Optimum Design ◽  
Angular Acceleration ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Objective Functions ◽  
Joint Rotation ◽  
Worst Case ◽  
Rigid Body Dynamic ◽  
Driving Torque ◽  
Arbitrary Axis

This article deals with the methodology of the dynamic optimum design of the one translational and three rotational degrees of freedom parallel robots while considering the rigid-body dynamic property. The dynamic optimum design of the 3UPS-PRU (underlined P denotes an active prismatic joint driven by a servomotor) parallel robot is presented while considering the constraints on the installation dimension, joint rotation angle, and the interference. The maximum driving torque and the maximum driving power of the actuating joints are taken as the objective functions in the dynamic optimum design, respectively. The physical meanings of the objective functions are the maximum driving torque and the maximum driving power of the actuating joints when the moving platform translates along the z-axis in the maximum linear acceleration amax, rotates about an arbitrary axis in the maximum angular acceleration αmax, translates along the z-axis in the maximum linear velocity vmax, and rotates about an arbitrary axis in the maximum angular velocity ωmax at the same time. The object of the dynamic optimum design is to minimize the maximum driving torque or the maximum driving power by employing worst case criterion. In the predefined design task, the results of the dynamic optimum design of the 3UPS-PRU parallel robot are the same when taking the maximum driving torque and the maximum driving power as the objective functions. The phenomenon can be verified by the fact that the distributions of the maximum driving torque and the maximum driving power are very similar to each other. The robot dimension has also been taken into account in the dynamic optimum design of the 3UPS-PRU parallel robot due to the consideration of the building cost and the miniaturization. The example of the dynamic optimum design of the 3UPS-PRU parallel robot is presented in the simulation. The conclusions are provided at the end of the article.

Solving the Kinematics of a Parallel Robot Based on CAD Variation Geometry

2009 ◽  
Author(s):  
Jiayin Xu ◽  
Yi Lu ◽  
Jingjing Yu
Keyword(s):  
Angular Velocity ◽  
Finite Difference Method ◽  
Angular Acceleration ◽  
Parallel Robot ◽  
Linear Velocity ◽  
Euler Angles ◽  
Computer Aided ◽  
The Finite Difference Method ◽  
Accuracy And Repeatability ◽  
Kinematical Parameters

A CAD variation geometry approach is proposed for accurately solving the position-orientation, linear velocity/acceleration, and Euler angular velocity/angular acceleration of a symmetrical 3-dof 3-UPU parallel robot. Based on the finite-difference method as the foundations, using the computer aided geometry constraints and dimension driving technique, the simulation mechanism of the 3-UPU parallel robot with Euler angles is created, and the position-orientation can be got. Then the linear velocity/acceleration simulation mechanisms and Euler angular velocity/angular acceleration simulation mechanisms are created. When modifying the driving dimension of three driving limbs, the configurations of the simulation mechanisms are varied correspondingly, and all of the kinematical parameters are solved automatically. The simulation solutions are verified by an analytic approach. The results show that the CAD variation geometry is not only fairly quick and straightforward, but is also advantageous from viewpoint of accuracy and repeatability.

scholarly journals Hybrid Seven-bar Press Mechanism

2018 ◽  
Vol 12 (3) ◽  
pp. 181-187
Author(s):  
M. Erkan Kütük ◽  
L. Canan Dülger
Keyword(s):  
Genetic Algorithm ◽  
Objective Function ◽  
Design Optimization ◽  
Hybrid System ◽  
Degrees Of Freedom ◽  
Dimensional Synthesis ◽  
Design Variables ◽  
Optimization Study ◽  
Metal Stamping

An optimization study with kinetostatic analysis is performed on hybrid seven-bar press mechanism. This study is based on previous studies performed on planar hybrid seven-bar linkage. Dimensional synthesis is performed, and optimum link lengths for the mechanism are found. Optimization study is performed by using genetic algorithm (GA). Genetic Algorithm Toolbox is used with Optimization Toolbox in MATLAB®. The design variables and the constraints are used during design optimization. The objective function is determined and eight precision points are used. A seven-bar linkage system with two degrees of freedom is chosen as an example. Metal stamping operation with a dwell is taken as the case study. Having completed optimization, the kinetostatic analysis is performed. All forces on the links and the crank torques are calculated on the hybrid system with the optimized link lengths

Synthesis of Parallel Manipulator with Single DOF

2013 ◽  
Vol 330 ◽  
pp. 639-643 ◽  
Author(s):  
Chung Huang Yu ◽  
Wen Yeuan Chung
Keyword(s):  
Parallel Manipulator ◽  
Design Concept ◽  
Path Generation ◽  
Dimensional Synthesis ◽  
Type Synthesis ◽  
Numerical Example ◽  
Geometrical Constraints ◽  
Moving Platform ◽  
Manipulator Design

This paper proposed a new manipulator design concept which leads to a single DOF system. The system composed of a moving platform and several supporting legs. It can execute the tasks of 3D body guidance or path generation and thus replace expensive manipulators with high DOF in some conditions. There are mainly two steps in designing this manipulator. The first step is type synthesis to determine the number and types of legs. Dimensional synthesis is then executed based on the movement requirements and geometrical constraints. In this study the reduction of the DOF is also analyzed for various legs added between the moving platform and the ground. A numerical example of executing 3D body guidance is given to verify the proposed new concept.

scholarly journals A Novel Kinematically Redundant Planar Parallel Robot Manipulator With Full Rotatability

2018 ◽  
Vol 11 (1) ◽  
Author(s):  
Nicholas Baron ◽  
Andrew Philippides ◽  
Nicolas Rojas
Keyword(s):  
Potential Application ◽  
Robot Manipulator ◽  
Video Recording ◽  
Parallel Robot ◽  
Singularity Analysis ◽  
Geometric Method ◽  
Forward Kinematics ◽  
Online Video ◽  
End Effector ◽  
Moving Platform

This paper presents a novel kinematically redundant planar parallel robot manipulator, which has full rotatability. The proposed robot manipulator has an architecture that corresponds to a fundamental truss, meaning that it does not contain internal rigid structures when the actuators are locked. This also implies that its rigidity is not inherited from more general architectures or resulting from the combination of other fundamental structures. The introduced topology is a departure from the standard 3-RPR (or 3-RRR) mechanism on which most kinematically redundant planar parallel robot manipulators are based. The robot manipulator consists of a moving platform that is connected to the base via two RRR legs and connected to a ternary link, which is joined to the base by a passive revolute joint, via two other RRR legs. The resulting robot mechanism is kinematically redundant, being able to avoid the production of singularities and having unlimited rotational capability. The inverse and forward kinematics analyses of this novel robot manipulator are derived using distance-based techniques, and the singularity analysis is performed using a geometric method based on the properties of instantaneous centers of rotation. An example robot mechanism is analyzed numerically and physically tested; and a test trajectory where the end effector completes a full cycle rotation is reported. A link to an online video recording of such a capability, along with the avoidance of singularities and a potential application, is also provided.

scholarly journals Kinematics of a screw linkage

2021 ◽  
Vol 3 (12) ◽  
Author(s):  
Jing-Shan Zhao ◽  
Song-Tao Wei ◽  
Junjie Ji
Keyword(s):  
Angular Velocity ◽  
Linear Velocity ◽  
Kinematics Analysis ◽  
First Order ◽  
Definition Of

AbstractThis paper proposes a kinematics methodology in twist coordinates for screw linkages. Based on the definition of a twist, both the angular velocity of a link and the linear velocity of a point on it may be explicitly represented in twist coordinates. Through integration on the twist solution numerically or analytically, we may obtain the displacements. By differential or numerical differential interpolation of the twist, we can find the accelerations of the link. The most outstanding advantage of this kinematic algorithm is that only the numerical differential interpolation of the first order is required to calculate the acceleration while only the first order integration of the twist is enough to compute the displacement. This merit makes it particularly fit for developing programmes to accomplish the kinematics analysis of a spatial linkage.

scholarly journals Construction of a Rotation Acquisition System using Arduino and Scada Supervisory Software

2021 ◽  
Vol 9 (11) ◽  
pp. 173-182
Author(s):  
Adeilson Nascimento de Sousa ◽  
Laudileni Olenka ◽  
Jorge Luis Nepomuceno de Lima ◽  
Viviane Barrozo da Silva ◽  
Antonio Carlos Duarte Ricciotti ◽  
...  
Keyword(s):  
Angular Velocity ◽  
Data Acquisition ◽  
Open Source ◽  
Real Time ◽  
Graphical Representation ◽  
Data Acquisition System ◽  
Linear Velocity ◽  
Acquisition System ◽  
Instantaneous Values

This work presents the development and implementation of a System for Acquisition of Rotations composed of an open-source Arduino electronic prototyping platform and a Supervision and Data Acquisition System (SCADA). This system obtains instantaneous values for frequency, linear velocity, and angular velocity, and the graphical representation of said instantaneous values is in real-time. Thus, the proposed system is a mediator of learning for the teaching of Circular Movement Uniform, with theoretical/practical interaction essential in classes for understanding the content.

Research on Measurement Modeling of Spherical Joint Rotation Angle Based on RBF–ELM Network

2021 ◽  
pp. 1-1
Author(s):  
Liangqiong Xia ◽  
Penghao Hu ◽  
Kunlong Ma ◽  
Long Yang
Keyword(s):  
Rotation Angle ◽  
Spherical Joint ◽  
Joint Rotation

scholarly journals Control Solution for a Cable-Driven Parallel Robot With Highly Variable Payload

2018 ◽  
Author(s):  
Etienne Picard ◽  
Stéphane Caro ◽  
Franck Plestan ◽  
Fabien Claveau
Keyword(s):  
Real Time ◽  
Parallel Robot ◽  
Pd Controller ◽  
Control Solution ◽  
Total Load ◽  
Heterogeneous Objects ◽  
Control Scheme ◽  
Pick And Place ◽  
Payload Mass ◽  
Moving Platform

This paper deals with the design of a robust control scheme for a suspended Cable-Driven Parallel Robot (CDPR), composed of eight cables and a moving platform (MP), suitable for pick-and-place operations of heterogeneous objects with different shapes, sizes and masses, up to a total load of 700 kg. Dynamometers measure the force applied by each cable onto the moving-platform and are used to assess the payload mass at any time. In the proposed control solution, each motor of the CDPR is directly driven by a PD torque controller, which takes benefit of the real-time payload estimation in a feedforward term. In order to evaluate its performance, experiments on a typical pick and place trajectory are realized for different payloads. As a result, three control schemes: (i) a Proportional-Derivative (PD) torque controller; (ii) a PD controller with compensation of the MP mass only and (iii) a PD controller with real-time mass estimation and compensation are experimentally compared with respect to their positioning accuracy. It turns out that a good estimation of the payload is obtained in real-time thanks to the dynamometers. Moreover, the higher the payload mass, the more accurate the proposed controller with respect to its two counterparts.

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