Kinematic analysis and workspace optimization of a novel 4RPSP + PS parallel manipulator

2020 ◽  
pp. 1-23
Author(s):  
Soheil Zarkandi
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Workspace Optimization

scholarly journals Kinematic Analysis Of Tricept Parallel Manipulator

2012 ◽  
Vol 12 (5) ◽  
Author(s):  
Mir Amin Hosseini ◽  
Hamid-Reza Mohammadi Daniali
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Geometric Constraints ◽  
Design Parameters ◽  
Forward Kinematics ◽  
Jacobian Matrices ◽  
Moving Platforms ◽  
Workspace Optimization

Parallel manipulators consist of fixed and moving platforms connected to each other with some actuated links. They have some significant advantages over their serial counterparts. While, they suffer from relatively small workspaces, complex kinematics relations and highly singular points within their workspaces. In this paper, forward kinematics of Tricept parallel manipulator is solved analytically and its workspace optimization is performed. This parallel manipulator has a complex degree of freedom, therefore leads to dimensional in-homogeneous Jacobian matrices. Thus, we divide some entries of the Jacobian by units of length, thereby producing a new Jacobian that is dimensionally homogeneous. Moreover, its workspace is parameterized using some design parameters. Then, using GA method, the workspace is optimized subjects to some geometric constraints. Finally, dexterity of the design is evaluated. Keywords- Kinematic, Workspace, Singularity, TriceptABSTRAK - Manipulator selari terdiri daripada platform tetap dan bergerak yang bersambung antara satu sama lain dengan beberapa pautan bergerak. Manipulator selari mempunyai beberapa kebaikan tertentu dibandingkan dengan yang bersamaan dengannya. Walaupun ia mempunyai ruang kerja yang sempit, hubungan kinematik kompleks dan titik tunggal tinggi dalam linkungan ruang kerjanya. Dalam kajian ini, kinematik ke hadapan manipulator selari Tricept diselesaikan secara analisa dan pengoptimuman ruang kerja dijalankan. Manipulator selari ini mempunyai darjah kebebasan yang kompleks, yang menyebabkan ia mendorong kepada kehomogenan dimensi matriks Jacobian. Catatan Jacobian dibahagikan kepada unit panjang, dimana ia menghasilkan Jacobian baru yang homogen dimensinya. Tambahan, ruang kerjanya diparameterkan dengan menggunakan beberapa parameter reka bentuk. Kemudian, dengan kaedah GA, ruang kerja mengoptimakan subjek kepada beberapa kekangan geometrik. Akhirnya, kecakatan reka bentuk dinilaikan.Keywords- Kinematic, Workspace, Singularity, Tricept

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.

Forward kinematic analysis of the 3- R P RS parallel manipulator

2017 ◽  
Vol 116 ◽  
pp. 262-272 ◽  
Author(s):  
Anirban Nag ◽  
Santhakumar Mohan ◽  
Sandipan Bandyopadhyay
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Forward Kinematic

Kinematics and Dynamics of a Parallel Manipulator With Woven Joints

1993 ◽  
Author(s):  
Hyunsok Pang
Keyword(s):  
Lagrange Multipliers ◽  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Numerical Technique ◽  
Vector Analysis ◽  
Kinematics And Dynamics ◽  
Governing Equations ◽  
Numerical Examples

Abstract Presented is an analysis of the kinematics and the inverse dynamics of a proposed three DOF parallel manipulator resembling the Stewart platform in a general form. In the kinematic analysis, the inverse kinematics, velocity and acceleration analyses are performed, respectively, using vector analysis and general homogeneous transformations. An algorithm to solve the inverse dynamics of the proposed parallel manipulator is then presented using a Lagrangin technique. In this case, it is found that one should introduce and subsequently eliminate Lagrange multipliers in order to arrive at the governing equations. Numerical examples are finally carried out to examine the validity of the approach and the accuracy of the numerical technique employed. The trajectory of motion of the manipulator is also performed using a cubic spline.

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

Kinematic Analysis and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator

2006 ◽  
Vol 129 (6) ◽  
pp. 611-616 ◽  
Author(s):  
Pierre-Luc Richard ◽  
Clément M. Gosselin ◽  
Xianwen Kong
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Quadratic Equation ◽  
Design Stage ◽  
Forward Displacement ◽  
Singular Configurations ◽  
The Family ◽  
Moving Platform ◽  
Forward Displacement Analysis

A four-degree-of-freedom (DOF) 3T1R parallel manipulator is presented in this paper. This manipulator generates the family of so-called Schönflies motions, SCARA motions or 3T1R motions, in which the moving platform can translate in all directions and rotate around an axis of a fixed direction. The kinematic analysis of this architecture is presented, including the study of the constraint singular configurations, kinematic singular configurations, and the determination of the workspace. A prototype (the Quadrupteron) is also presented and demonstrated. The characteristics of the proposed prototype are (a) there is no constraint singularity, (b) its input-output equations are partially decoupled, (c) its kinematic singular configurations can be expressed using an equation in the angle of rotation of the moving platform and are thus easy to avoid at the design stage, and (d) its forward displacement analysis requires the solution of a univariate quadratic equation and can therefore be solved efficiently.

A Study on the Kinematics of 2-DOF Parallel Manipulator

2011 ◽  
Vol 148-149 ◽  
pp. 1487-1490
Author(s):  
Jong Gyu Lee ◽  
Sang Ryong Lee ◽  
Choon Young Lee ◽  
Seung Han Yang
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Displacement Velocity ◽  
Linear Motion ◽  
End Effector ◽  
Verification Algorithm

In this paper, a parallel manipulator is comprised of sliders and links. The end-effector has an orientation. Sliders execute a linear motion along parallel guidelines and make the connected links rotate. We derived displacement, velocity and acceleration from kinematic analysis of this manipulator using direct and inverse kinematics,found constraint conditions and proposed the verification algorithm of constraint conditions. With the result from the simulation, we found that there was a local workspace where the manipulator cannot carry out a series of link motion.

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