Optimal design of a redundant spherical parallel manipulator

Robotica ◽  
1997 ◽  
Vol 15 (4) ◽  
pp. 399-405 ◽  
Author(s):  
Sylvie Leguay-Durand ◽  
Claude Reboulet
Keyword(s):  
Optimal Design ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Structure Optimization ◽  
Kinematic Design ◽  
Spherical Wrist ◽  
Redundant Structure ◽  
Spherical Parallel Manipulator

A new kinematic design of a parallel spherical wrist with actuator redundancy is presented. A special feature of this parallel manipulator is the arrangement of co-axial actuators which allows unlimited rotation about any axis inside a cone-shaped workspace. A detailed kinematic analysis has shown that actuator redundancy not only removes singularities but also increases workspace while improving dexterity. The structure optimization has been performed with a global dexterity criterion. Using a conditioning measure, a comparison with a non-redundant structure of the same type was performed and shows that a significant improvement in dexterity has been obtained.

Kinematic analysis and optimal design of a novel 3-PRR spherical parallel manipulator

2020 ◽  
pp. 095440622093880
Author(s):  
Soheil Zarkandi
Keyword(s):  
Optimal Design ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Kinematic Singularity ◽  
Revolute Joint ◽  
Wide Range ◽  
Moving Platform ◽  
Forward Kinematic ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

This paper introduces a novel three degree-of-freedom spherical parallel manipulator with 3-PRR topology, where P and R denote a curved prismatic joint and a revolute joint, respectively. The first revolute joint of each PRR leg is actuated via a double Rzeppa-type driveshaft, and hence underlined. The manipulator has at most eight working modes and eight assembly modes. However, only one working mode and one assembly mode of the manipulator are acceptable during its motion which can be easily identified. Singularity and kinematic dexterity analyses reveal that the proposed 3-PRR spherical parallel manipulator has no forward kinematic singularity for a wide range of rotation of the moving platform around its central axis. An optimal design of the manipulator is also presented having a workspace with good kinematic dexterity.

Kinematic analysis and optimal design of a novel 1T3R parallel manipulator with an articulated travelling plate

2014 ◽  
Vol 30 (5) ◽  
pp. 508-516 ◽  
Author(s):  
Yimin Song ◽  
Hao Gao ◽  
Tao Sun ◽  
Gang Dong ◽  
Binbin Lian ◽  
...  
Keyword(s):  
Optimal Design ◽  
Kinematic Analysis ◽  
Parallel Manipulator

Structural Optimization of a Spherical Parallel Manipulator Using a Two-Level Approach

2001 ◽  
Author(s):  
Florence Bidault ◽  
Chin-Pun Teng ◽  
Jorge Angeles
Keyword(s):  
Cross Section ◽  
Parallel Manipulator ◽  
Minimum Weight ◽  
Direct Drive ◽  
Stress Concentrations ◽  
Revolute Joints ◽  
Dc Motors ◽  
Spherical Wrist ◽  
Minimum Stress ◽  
Spherical Parallel Manipulator

Abstract The Agile Wrist, a spherical wrist with a parallel, isotropic architecture for highest orientational accuracy, is being designed as a module of an 11-degree-of-freedom (dof) robot. The wrist consists of two main elements, the base and the moving plates. The two plates are coupled by means of three identical legs, each of these composed of two links, proximal and distal, coupled to each other by a revolute joint. Each leg, in turn, is coupled to its proximal plate via revolute joints. Moreover, the three axes of the leg-revolute joints are concurrent at the center of the wrist, each axis making an angle of 90° with its neighbor. Direct-drive DC motors are used to rotate the wrist proximal links and electrical brakes and optical encoders are located on each of the motor shafts for control purposes. In this paper we introduce a two-level approach to the optimum design of the proximal link of the Agile Wrist. First, the shape of the midcurve producing minimum stress concentrations is obtained by means of the concept of curve synthesis using cubic splines. At the second level, the optimum cross-section along the midcurve producing a link of minimum weight is determined.

Design and kinematic analysis of a new 3-DOF spherical parallel manipulator for a prosthetic wrist

2019 ◽  
Vol 42 (1) ◽  
Author(s):  
José-Alfredo Leal-Naranjo ◽  
Mingfeng Wang ◽  
Juan-Carlos Paredes-Rojas ◽  
Horacio Rostro-Gonzalez
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Spherical Parallel Manipulator

Analytical approach for optimal design of a type of spherical parallel manipulator using dexterous performance indices

2003 ◽  
Vol 217 (4) ◽  
pp. 447-455 ◽  
Author(s):  
T Huang ◽  
C M Gosselin ◽  
D J Whitehouse ◽  
D G Chetwynd
Keyword(s):  
Optimal Design ◽  
Parallel Manipulator ◽  
Analytical Approach ◽  
Optimal Solution ◽  
Numerical Approach ◽  
Performance Indices ◽  
Symmetric Geometry ◽  
Global Optimal ◽  
Parametric Relationships ◽  
Spherical Parallel Manipulator

In this paper, an analytical approach for the optimal design of a type of spherical parallel manipulator with symmetric geometry is investigated. Both the condition number and the behaviour of the direct Jacobian matrix associated with the initial configuration are optimized, resulting in a set of closed-form parametric relationships that enables a global optimal performance index to be achieved in the overall workspace. It has been concluded that the global optimal solution is located on the loci of local optimal solutions. The outcome confirms analytically the optimality of the orthogonal spherical parallel manipulator achieved using the numerical approach.

The 3-RRS Wrist: A New, Simple and Non-Overconstrained Spherical Parallel Manipulator

2004 ◽  
Vol 126 (5) ◽  
pp. 850-855 ◽  
Author(s):  
Raffaele Di Gregorio
Keyword(s):  
Rigid Body ◽  
Explicit Form ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Parallel Architectures ◽  
Geometric Reasoning ◽  
End Effector ◽  
Manipulation Task ◽  
Spherical Parallel Manipulator

Orientating a rigid body without changing its position is required in many technical applications. This manipulation task is accomplished by manipulators (spherical manipulators) that are just able to make the end effector move according to controlled spherical motions. Spherical manipulators can be either serial or parallel. Parallel architectures are usually more stiff and precise than the serial ones, whereas their structures are more complex than the serial ones. This paper presents a new three-equal-legged spherical parallel manipulator, named the 3-RRS wrist. The 3-RRS wrist is not overconstrained and exhibits a simple architecture employing just three passive revolute pairs, three passive spherical pairs and three actuated revolute pairs adjacent to the frame. The kinematic analysis of the 3-RRS wrist is addressed and fully solved. Finally, its singularity conditions are written in explicit form and discussed. The results of this analysis lead to the conclusion that the new manipulator has only two types of singularities both easy to be identified with geometric reasoning.

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.

Design and kinematic analysis of a 6-DOF foldable/deployable Delta parallel manipulator with spherical wrist for an I-AUV

2019 ◽  
Author(s):  
Roberto Simoni ◽  
Pere Ridao Rodriguez ◽  
Patryk Cieslak ◽  
Lucas Weihmann ◽  
Andrea Piga Carboni
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Spherical Wrist
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