Task-based torque minimization of a 3-PṞR spherical parallel manipulator

Robotica ◽  
2021 ◽  
pp. 1-30
Author(s):  
Soheil Zarkandi
Keyword(s):  
Closed Form ◽  
Dynamic Modeling ◽  
Dynamic Equation ◽  
Parallel Manipulator ◽  
Optimization Problem ◽  
Dynamic Constraints ◽  
Part C ◽  
Euler Approach ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

Abstract A comprehensive dynamic modeling and actuator torque minimization of a new symmetrical three-degree-of-freedom (3-DOF) 3-PṞR spherical parallel manipulator (SPM) is presented. Three actuating systems, each of which composed of an electromotor, a gearbox and a double Rzeppa-type driveshaft, produce input torques of the manipulator. Kinematics of the 3-PṞR SPM was recently studied by the author (Zarkandi, Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci. 2020, https://doi.org/10.1177%2F0954406220938806). In this paper, a closed-form dynamic equation of the manipulator is derived with the Newton–Euler approach. Then, an optimization problem with kinematic and dynamic constraints is presented to minimize torques of the actuators for implementing a given task. The results are also verified by the SimMechanics model of the manipulator.

A new closed-form kinematics of the generalized 3-DOF spherical parallel manipulator

Robotica ◽  
1999 ◽  
Vol 17 (5) ◽  
pp. 475-485 ◽  
Author(s):  
Zhen Huang ◽  
Y. Lawrence Yao
Keyword(s):  
Closed Form ◽  
Analytical Method ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
New Method ◽  
Numerical Example ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

This paper presents a new method to analyze the closed-form kinematics of a generalized three-degree-of-a-freedom spherical parallel manipulator. Using this analytical method, concise and uniform solutions are achieved. Two special forms of the three-degree-of-freedom spherical parallel manipulator, i.e. right-angle type and a decoupled type, are also studied and their unique and interesting properties are investigated, followed by a numerical example.

Parametric Design of a Spherical Eight-Bar Linkage Based on a Spherical Parallel Manipulator

2008 ◽  
Vol 1 (1) ◽  
Author(s):  
Gim Song Soh ◽  
J. Michael McCarthy
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Parametric Design ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
End Effector ◽  
Arbitrary Base ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

This paper presents a procedure that determines the dimensions of two constraining links to be added to a three degree-of-freedom spherical parallel manipulator so that it becomes a one degree-of-freedom spherical (8, 10) eight-bar linkage that guides its end-effector through five task poses. The dimensions of the spherical parallel manipulator are unconstrained, which provides the freedom to specify arbitrary base attachment points as well as the opportunity to shape the overall movement of the linkage. Inverse kinematics analysis of the spherical parallel manipulator provides a set of relative poses between all of the links, which are used to formulate the synthesis equations for spherical RR chains connecting any two of these links. The analysis of the resulting spherical eight-bar linkage verifies the movement of the system.

scholarly journals A closed-form solution for the position analysis of a novel fully spherical parallel manipulator – ERRATUM

Robotica ◽  
2015 ◽  
Vol 35 (5) ◽  
pp. 1137-1137
Author(s):  
Javad Enferadi ◽  
Amir Shahi
Keyword(s):  
Closed Form ◽  
Parallel Manipulator ◽  
Mechanical Engineering ◽  
Closed Form Solution ◽  
Form Solution ◽  
Position Analysis ◽  
Spherical Parallel Manipulator

There was an error in the spelling of the author's affiliation. Where the affiliation read “Department of mechanical engineering, Mashad Branch, Islamic Azad University, Mashad, Iran” it should instead have read “Department of mechanical engineering, Mashhad Branch, Islamic Azad University, Mashhad, Iran”.The publisher regrets this error.

Dynamic Modeling of Cable-Driven Parallel Manipulators With Distributed Mass Flexible Cables

2015 ◽  
Vol 137 (2) ◽  
Author(s):  
Jingli Du ◽  
Sunil K. Agrawal
Keyword(s):  
Dynamic Modeling ◽  
Dynamic Equation ◽  
Parallel Manipulator ◽  
Dynamic Models ◽  
Parallel Manipulators ◽  
Assumed Mode Method ◽  
Mode Method ◽  
Algebraic Constraints ◽  
Flexible Cables ◽  
Assumed Mode

A cable-driven parallel manipulator is an economic way to achieve manipulation over large workspace. However, unavoidable vibration in long cables can dramatically degenerate the positioning performance of manipulators. In this paper, dynamic models of large cable-driven parallel manipulators (CDPMs) are addressed where each cable is considered with distributed mass and can change in length during operation. The dynamic equation of a cable deployed or retrieved is derived using Hamilton's principle. The dynamic model of the system is characterized by partial differential equations with algebraic constraints. By properly selecting the independent unknowns, we solve the model using assumed-mode method.

On the kinematics of the 3-RRUR spherical parallel manipulator

Robotica ◽  
2009 ◽  
Vol 28 (6) ◽  
pp. 821-832 ◽  
Author(s):  
R. Deidda ◽  
A. Mariani ◽  
M. Ruggiu
Keyword(s):  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Mobility Analysis ◽  
Geometrical Condition ◽  
Mechanical Interference ◽  
Fixed Base ◽  
Spherical Wrist ◽  
Moving Platform ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

SUMMARYIn the present paper, the kinematics of a three-degree-of-freedom spherical wrist is investigated. The wrist consists of a fixed base connected to a moving platform by three identical legs, each with a RRUR chain (R and U denote a revolute pair and a universal pair, respectively). For each leg, the first R pair is to be considered actuated. Although in previous works the kinematics synthesis of this architecture was carried out, no detailed studies were presented on the kinematic issues of the wrist. This paper presents the mobility analysis, the direct and inverse position kinematics, the differential kinematics of the manipulator including inspection on the jacobian matrix and the analysis of the singularities. The geometrical condition matched in case of mechanical interference between legs is addressed, too. A numerical example of the manipulator kinematics was performed to obtain the workspace, the condition number and the mechanical inteference condition.

Closed-form dynamic modeling and performance analysis of an over-constrained 2PUR-PSR parallel manipulator with parasitic motions

2019 ◽  
Vol 96 (1) ◽  
pp. 517-534 ◽  
Author(s):  
Zhengsheng Chen ◽  
Lingming Xu ◽  
Weizhong Zhang ◽  
Qinchuan Li
Keyword(s):  
Performance Analysis ◽  
Closed Form ◽  
Dynamic Modeling ◽  
Parallel Manipulator ◽  
And Performance

On the Direct Kinematics of Spherical Three-Degree-of-Freedom Parallel Manipulators with a Coplanar Platform

1994 ◽  
Vol 116 (2) ◽  
pp. 587-593 ◽  
Author(s):  
C. M. Gosselin ◽  
J. Sefrioui ◽  
M. J. Richard
Keyword(s):  
Parallel Manipulator ◽  
Minimal Polynomial ◽  
Polynomial Solution ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Real Solutions ◽  
Revolute Joints ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator ◽  
Direct Kinematics

This paper presents a polynomial solution to the direct kinematic problem of a class of spherical three-degree-of-freedom parallel manipulators. This class is defined as the set of manipulators for which the axes of the three revolute joints attached to the gripper link are coplanar and symmetrically arranged. It is shown that, for these manipulators, the direct kinematic problem admits a maximum of 8 real solutions. A polynomial of degree 8 is obtained here to support this result and cases for which all the roots of the polynomial lead to real configurations are presented. Finally, the spherical parallel manipulator with collinear actuators, which received some attention in the literature, is also treated and is shown to lead to a minimal polynomial of the same degree. Examples of the application of the method to manipulators of each category are given and solved.

Closed-Form Forward Dynamic Equations of 6-DOF PUS Type Parallel Manipulators

2000 ◽  
Author(s):  
Jong-Phil Kim ◽  
Jeha Ryu
Keyword(s):  
Closed Form ◽  
Parallel Manipulator ◽  
Control Strategies ◽  
Equations Of Motion ◽  
Parallel Manipulators ◽  
Simulation Software ◽  
Dynamic Equations ◽  
Constant Length ◽  
Euler Approach ◽  
Six Degree Of Freedom

Abstract This paper presents closed-form forward dynamic equations of six degree-of-freedom HexaSlide type parallel manipulators. The HexaSlide type parallel manipulators are characterized by an architecture with constant-length links that are attached to moving sliders on the ground and to a mobile platform. Based on the kinematic analysis, forward dynamic equations of motion of the parallel manipulator are derived by the Newton-Euler approach. In this derivation, joint frictions as well as all link inertia are included. The correctness of derived dynamic equations is validated by a commercial dynamic simulation software. The kinematic and dynamic equations may be used in the computer simulation of various control strategies.

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