Enumeration and instantaneous mobility analysis of a class of 3-UPU parallel manipulators with equilateral triangular platforms

Robotica ◽  
2021 ◽  
pp. 1-32
Author(s):  
Sercan Boztaş ◽  
Gökhan Kiper
Keyword(s):  
Software Package ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Mobility Analysis ◽  
Specific Design ◽  
Design Task ◽  
Moving Platforms ◽  
Joint Axis ◽  
Motion Characteristics

Abstract In this study, several joint axis orientations on equilateral platforms and the limbs of 3-UPU parallel manipulators (PMs) are examined. The generated joint layouts for the platforms were matched with each other to generate and enumerate manipulator architectures based on certain assumptions. The structures of thus obtained manipulators are examined and limb types were determined. These limb types were analyzed using screw theory. The instantaneous mobility of the manipulators and the motion characteristics of the moving platforms are tabulated. The finite mobility analysis of one of the manipulators is performed using a software package as an example. Among several different 3-UPU PM architectures, 118 novel 3-UPU PMs with non-parasitic 3-degrees-of-freedom are significantly important. The classified 3-UPU PMs with determined motion characteristics can be used by researchers as a design alternative for their specific design task.

Mobility Analysis and Inverse Kinematics of a Novel 2R1T Parallel Manipulator

2011 ◽  
Author(s):  
Enrique Cuan-Urquizo ◽  
Ernesto Rodriguez-Leal ◽  
Jian S. Dai
Keyword(s):  
Software Package ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Parallel Robot ◽  
Mobility Analysis ◽  
Closure Equation ◽  
Inverse Kinematics Problem ◽  
Three Degrees Of Freedom

This paper presents a novel parallel robot constructed with a three-limb CUP architecture. The mobility of the mechanism is obtained using screw theory, showing that the platform has three degrees of freedom, namely: (i) translation along the Z axis; and (ii) two rotations. The position analysis investigates the loop-closure equation resulting in a unique solution for the inverse kinematics problem and the identification of parasitic motions of the platform. The paper validates the analytical solution with a numerical example, where the results are compared with motion simulations of the manipulator using a commercially available software package.

A novel five-degrees-of-freedom decoupled robot

Robotica ◽  
2009 ◽  
Vol 28 (6) ◽  
pp. 909-917 ◽  
Author(s):  
Jaime Gallardo-Alvarado ◽  
Horacio Orozco-Mendoza ◽  
José M. Rico-Martínez
Keyword(s):  
Machine Tools ◽  
Degrees Of Freedom ◽  
Parallel Manipulators ◽  
Solar Panels ◽  
Spatial Mechanism ◽  
Moving Platforms ◽  
Parallel Kinematic ◽  
Radar Antennas

SUMMARYIn this work a new nonoverconstrained redundant decoupled robot, free of compound joints, formed from three parallel manipulators, with two moving platforms and provided with six active limbs connected to the fixed platform, called LinceJJP, is presented. Interesting applications such as multi-axis machine tools with parallel kinematic architectures, solar panels, radar antennas, and telescopes are available for this novel spatial mechanism.

Jacobian Derivation of 5-DOF 3R2T Parallel Mechanisms

2004 ◽  
Author(s):  
Qinchuan Li ◽  
Xudong Hu ◽  
Zhen Huang
Keyword(s):  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Screw Theory ◽  
Kinematic Chain ◽  
Parallel Mechanisms ◽  
Mobility Analysis

This paper presents a method for the Jacobian derivation of 5-DOF 3R2T PMs (parallel mechanisms), where 3R denotes three rotational DOFs (degrees of freedom) and 2T denotes two translational DOFs. First the mobility analysis of such kind of parallel mechanisms is reviewed briefly. The Jacobian matrix of the single limb kinematic chain is obtained via screw theory, which is a 6 × 5 matrix. Then it is shown that the mobility analysis of such kind of PM is important when simplifying the 6 × 5 matrix into a 5 × 5 Jacobian matrix. After obtaining the 5 × 5 Jacobian matrix for each limb, a 5 × 5 Jacobian matrix for the whole mechanism can be established.

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.

Helical Kirigami-Enabled Centimeter-Scale Worm Robot With Shape-Memory-Alloy Linear Actuators

2015 ◽  
Vol 7 (2) ◽  
Author(s):  
Ketao Zhang ◽  
Chen Qiu ◽  
Jian S. Dai
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Kinematic Model ◽  
Parallel Structure ◽  
Geometrical Parameters ◽  
Parallel Structures ◽  
Complete Procedure ◽  
Motion Characteristics

The wormlike robots are capable of imitating amazing locomotion of slim creatures. This paper presents a novel centimeter-scale worm robot inspired by a kirigami parallel structure with helical motion. The motion characteristics of the kirigami structure are unravelled by analyzing the equivalent kinematic model in terms of screw theory. This reveals that the kirigami parallel structure with three degrees-of-freedom (DOF) motion is capable of implementing both peristalsis and inchworm-type motion. In light of the revealed motion characteristics, a segmented worm robot which is able to imitate contracting motion, bending motion of omega shape and twisting motion in nature is proposed by integrating kirigami parallel structures successively. Following the kinematic and static characteristics of the kirigami structure, actuation models are explored by employing the linear shape-memory-alloy (SMA) coil springs and the complete procedure for determining the geometrical parameters of the SMA coil springs. Actuation phases for the actuation model with two SMA springs are enumerated and with four SMA springs are calculated based on the Burnside's lemma. In this paper, a prototype of the worm robot with three segments is presented together with a paper-made body structure and integrated SMA coil springs. This centimeter-scale prototype of the worm robot is lightweight and can be used in confined environments for detection and inspection. The study presents an interesting approach of integrating SMA actuators in kirigami-enabled parallel structures for the development of compliant and miniaturized robots.

A novel class of generalized parallel manipulators with high rotational capability

2020 ◽  
Vol 234 (23) ◽  
pp. 4599-4619
Author(s):  
Chunxu Tian ◽  
Dan Zhang ◽  
Jian Liu
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Structural Characteristics ◽  
Synthesis Method ◽  
Parallel Manipulators ◽  
Rigid Bodies ◽  
Kinematic Chains ◽  
Moving Platforms ◽  
Moving Platform ◽  
Limb Structure

A conventional parallel manipulator is characterized by connecting one moving platform with two or more serial kinematic limbs. Since each limb is independently supporting one moving platform, the moving platform must be a rigid body with several kinematic pairs fixed on it. However, for generalized parallel manipulators with articulated moving platforms, the moving platforms are not limited to rigid bodies but including serial kinematic chains or internal kinematic joints. The introduction of articulated moving platforms allows for improving the kinematic performance of generalized parallel manipulators, especially for rotational capability. On account of the structural characteristics of the moving platforms, it also poses a significant challenge in the construction of the structures of manipulators. This research raises a new method for the type synthesis of generalized parallel manipulators with novel articulated moving platforms. The proposed method introduces a striking shortcut for the limb structure analysis of mechanisms with high rotational capability. In this paper, a class of generalized parallel manipulator with different degrees of freedom from 3 to 6 are constructed by using the constraint synthesis method, and several examples are provided to demonstrate the feasibility of the advocated method. At last, the 3T3R generalized parallel manipulator is taken as an example to analyze the inverse kinematics, and the evaluation of the workspace is conducted to verify the rotational capacity.

Mobility Analysis of Parallel Manipulators and Pattern of Transform Matrix

2010 ◽  
Vol 2 (4) ◽  
Author(s):  
Chao Chen
Keyword(s):  
Degrees Of Freedom ◽  
Pattern Analysis ◽  
Parallel Manipulators ◽  
Point Of View ◽  
Fundamental Issue ◽  
Mobility Analysis ◽  
Geometric Conditions ◽  
Special Cases ◽  
Transform Matrix ◽  
And Robotics

The mobility or degrees of freedom is a fundamental issue in mechanisms and robotics. In this work, we investigate the mobility of parallel manipulators from a new point of view, and introduce a new concept, the pattern of transform matrix. It is shown that both general and modified Chebychev–Gruble–Kutzbach formulas are the special cases of the pattern analysis. We further propose a framework upon the pattern analysis of transform matrix to calculate the mobility, to evaluate the property of the motion, and to determine the exact-actuation arrangement. The proposed approach should be general enough to evaluate any existing parallel manipulator. Five parallel manipulators with special geometric conditions and lower mobilities are discussed.

Mobility Analysis of a Novel 3-5R Parallel Mechanism Family

2004 ◽  
Vol 126 (1) ◽  
pp. 79-82 ◽  
Author(s):  
Q. C. Li ◽  
Z. Huang
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Kinematic Chain ◽  
Parallel Mechanisms ◽  
Mobility Analysis

Mobility analysis of a novel 3-5R parallel mechanism family whose limb consists of a 2R and a 3R parallel subchain is performed by the aid of screw theory. A mobility criterion applicable to such 3-leg parallel mechanisms in which each kinematic chain contains five kinematic pairs is proposed. It is shown that under different structural conditions, the 3-5R parallel mechanism can have 3, 4, or 5 DOF (degrees of freedom). The structural conditions that guarantee the full-cycle mobility are analyzed. The analysis and the method presented in this paper will be helpful in using such a 3-5R parallel mechanism family and introduce new insights into the mobility analysis of parallel mechanisms.

Kinematics and mobility analysis of carton folds in packing manipulation based on the mechanism equivalent

2002 ◽  
Vol 216 (10) ◽  
pp. 959-970 ◽  
Author(s):  
J S Dai ◽  
J Rees Jones
Keyword(s):  
Graph Theory ◽  
Closed Form ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Mobility Analysis ◽  
Mathematical Basis ◽  
Packaging Process ◽  
Kinematic Geometry ◽  
Position And Orientation

The process of erecting and closing a carton in packing manipulation is seen as a succession of folds in position and orientation from one distinct configuration to another. Permitted manipulations and changes in shape are governed by the geometry of crease lines, dimensions and profiles of the panels. The possibility for panels to fold into successive distinct configurations is determined by the kinematic geometry. This paper presents a mathematical basis which determines the mobility of distinct configurations of a carton to include the degrees of freedom dominating the manipulation and the overconstraint configurations in an erected and closed form, and proposes the kinematic analysis of a carton during packing manipulation. Use is made of the concept of line vectors and screw theory associated with graph theory. The analysis helps to explain some configurations which show how a carton can fold and opens up the way of describing manipulation in the packaging process.

scholarly journals Type synthesis of uncoupled translational parallel manipulators based on actuation wrench screw theory

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401774843
Author(s):  
Yanbin Zhang ◽  
Yifu Zhao ◽  
Xianling Jing ◽  
Xiangpan Li
Keyword(s):  
Degrees Of Freedom ◽  
Screw Theory ◽  
Full Rank ◽  
Basic Structure ◽  
Parallel Manipulators ◽  
Rotational Mobility ◽  
Type Synthesis ◽  
Structure Synthesis ◽  
Moving Platform ◽  
Set Up

In this article, a new methodology for type synthesis of uncoupled translational parallel manipulators with 3-degrees of freedom is proposed based on actuation wrench screw theory. Mapping matrix between outputs of the moving platform and the inputs of the actuators for uncoupled translational parallel manipulators is derived. The forms of both the actuated twist screws and the actuation wrench screws of the limbs are determined by means of the condition that the Jacobian is a diagonal matrix with full rank. The steps used to confirm the non-actuated screws of the limbs are also established. Then, procedures for structure synthesis of the limbs are set up and all possible basic structure limbs are enumerated. Some new uncoupled translational parallel manipulators are synthesized by selecting three limbs connecting the platform to the base and two examples are given. The approach proposed is applicable to the type synthesis of uncoupled parallel manipulators with rotational mobility as well.

Sign in / Sign up

Export Citation Format

Share Document