Model-based motion simulation of delta parallel robot

Abstract For a parallel configuration of a robot manipulator, the solution of Forward Kinematics (FK) is tough compared to Inverse Kinematics (IK). This paper presents the model-based motion planning of a delta parallel robot in Simulink’s SimScape environment. A model was developed and simulated for motion study. The developed model has been simulated to solve the FK of the parallel manipulator and to check its efficacy. First, a helix curve has been planned within the reachable workspace. Then IK was solved to extract angular positions of the biceps. Obtained angular positions then fed to SimScape model to run a simulation. The path taken by the end effector of the system calculated by simulation is in good approximation to the planned helix path. Further, visual simulation and motion analysis of delta parallel robot can be performed by Model-based simulation and solves mechanical design as well control system design problems. Experimental study also shows that the circular path designed for experiment is well followed in real time simulation.

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Error attenuation in the control of a parallel robot manipulator using a dual-model-based structure

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1243/095440603762826486 ◽

2003 ◽

Vol 217 (2) ◽

pp. 161-171 ◽

Cited By ~ 4

Author(s):

Q Li

Keyword(s):

Control Structure ◽

Robot Manipulator ◽

Parallel Robot ◽

Parallel Robots ◽

Internal Model Control ◽

Sensitivity Analyses ◽

Parallel Structure ◽

Dual Model ◽

Model Based ◽

Model Control

Parallel structure robots have been receiving growing attention from both academia and industry in recent years. This is due to their advantages over serial structure robots, such as high stiffness, high motion accuracy and a high load-structure ratio. Control of parallel robots, however, produces difficulties to control engineers due to the modelling errors arising from the highly non-linear and complex structures. This paper proposes a dual-model-based structure for error attenuation in the trajectory-tracking control of a parallel robot manipulator. In this design, a conventional model-based control algorithm employing an estimated robot dynamic model is first implemented in the inner loop of the control structure. Then, in order to reduce the unwanted effects caused by modelling erros, another model-based structure, developed based on the concept of the internal model control, is appended in the outer loop of the control structure as a compensator. A combination of these two model-based components results in a novel dual-model-based structure for parallel robot control. Sensitivity analyses show that the effects due to modelling errors and external disturbances can be significantly reduced by applying this new control structure without relying on a high-gain control solution. The effectiveness of this control design is successfully demonstrated by numerical studies on a planar parallel robot with 2 degrees of freedom.

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Model-Based Control of Spatial 6-DOF Hydraulic Parallel Robot Manipulator

Advanced Science Letters ◽

10.1166/asl.2011.1377 ◽

2011 ◽

Vol 4 (4) ◽

pp. 1663-1666

Author(s):

Chifu Yang ◽

Shutao Zheng ◽

O. Ogbobe Peter ◽

Junwei Han

Keyword(s):

Robot Manipulator ◽

Parallel Robot ◽

Model Based Control ◽

Model Based

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Kinematic analysis and design of a novel 6-degree of freedom parallel robot

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406214533097 ◽

2014 ◽

Vol 229 (2) ◽

pp. 291-303 ◽

Cited By ~ 4

Author(s):

DU Hui ◽

GAO Feng ◽

PAN Yang

Keyword(s):

Set Theory ◽

Kinematic Analysis ◽

Parallel Mechanism ◽

Design Methodology ◽

Parallel Robot ◽

End Effector ◽

Analysis And Design ◽

Velocity Models ◽

Reachable Workspace ◽

Rotational Motions

A novel 3-UP3R parallel mechanism with six degree of freedoms is proposed in this paper. One most important advantage of this mechanism is that the three translational and three rotational motions are partially decoupled: the end-effector position is only determined by three inputs, while the rotational angles are relative to all six inputs. The design methodology via GF set theory is brought out, using which the limb type can be determined. The mobility of the end-effector is analyzed. After that, the kinematic and velocity models are formulated. Then, workspace is studied, and since the robot is partially decoupled, the reachable workspace is also the dexterous workspace. In the end, both local and global performances are discussed using conditioning indexes. The experiment of real prototype shows that this mechanism works well and may be applied in many fields.

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A Novel Kinematically Redundant Planar Parallel Robot Manipulator With Full Rotatability

Journal of Mechanisms and Robotics ◽

10.1115/1.4041698 ◽

2018 ◽

Vol 11 (1) ◽

Cited By ~ 5

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.

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Mobile parallel robot machine for heavy-duty double-walled vacuum vessel assembly

Industrial Robot the international journal of robotics research and application ◽

10.1108/ir-10-2020-0228 ◽

2021 ◽

Vol ahead-of-print (ahead-of-print) ◽

Author(s):

Changyang Li ◽

Huapeng Wu ◽

Harri Eskelinen ◽

Haibiao Ji

Keyword(s):

Computer Aided Design ◽

Fusion Reactor ◽

Mechanical Design ◽

Industrial Robot ◽

Parallel Robot ◽

Tig Welding ◽

Inert Gas ◽

Vacuum Vessel ◽

Content Type ◽

Simulation And Optimization

Purpose This paper aims to present a detailed mechanical design of a seven-degrees-of-freedom mobile parallel robot for the tungsten inert gas (TIG) welding and machining processes in fusion reactor. Detailed mechanical design of the robot is presented and both the kinematic and dynamic behaviors are studied. Design/methodology/approach First, the model of the mobile parallel robot was created in computer-aided design (CAD) software, then the simulation and optimization of the robot were completed to meet the design requirements. Then the robot was manufactured and assembled. Finally, the machining and tungsten inert gas (TIG) welding tests were performed for validation. Findings Currently, the implementation of the robot system has been successfully carried out in the laboratory. The excellent performance has indicated that the robot’s mechanical and software designs are suitable for the given tasks. The quality and accuracy of welding and machining has reached the requirements. Originality/value This mobile parallel industrial robot is particularly used in fusion reactor. Furthermore, the structure of the mobile parallel robot can be optimized for different applications.

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