Infinite Torsional Motion Generation of a Spherical Parallel Manipulator with Coaxial Input Axes

2020 ◽  
Author(s):  
Iliyas Tursynbek ◽  
Almas Shintemirov
Keyword(s):  
Parallel Manipulator ◽  
Torsional Motion ◽  
Motion Generation ◽  
Spherical Parallel Manipulator

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.

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.

A Novel Spherical Parallel Manipulator with Circular Guide

2013 ◽  
Vol 325-326 ◽  
pp. 1014-1018
Author(s):  
Hai Rong Fang ◽  
Zhi Hong Chen ◽  
Yue Fa Fang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
High Rigidity ◽  
Geometric Conditions ◽  
Spherical Parallel Manipulator

In this paper, a novel 3-degree-of-freedom (DOF) parallel manipulator that can perform three rotations around the remote centre is presented. The theory of screws and reciprocal screws is employed for the analysis of the geometric conditions. In particular, using circular guide to instead of R joints, so that has the advantage of enabling continuous 360° revolute around Z-axis. The inverse kinematics of mechanism is given and the workspace has a good performance. To compare with the machine constructed with traditional joints, it has the advantage of high rigidity and precision.

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.

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.

Forward Displacement Analysis of Three New Classes of Analytic Spherical Parallel Manipulators

1998 ◽  
Author(s):  
Xian-Wen Kong
Keyword(s):  
Characteristic Polynomial ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Dual Solutions ◽  
Fourth Degree ◽  
Forward Displacement ◽  
Displacement Analysis ◽  
The Third ◽  
Spherical Parallel Manipulator ◽  
Forward Displacement Analysis

Abstract The analytic manipulator is a manipulator the characteristic polynomial of which is of fourth degree or lower. Three new classes of analytic spherical parallel manipulators with prismatic actuators are proposed. The first is the spherical parallel manipulator with non-similar planar platforms, the second is the spherical parallel manipulator with similar planar platforms, and the third is the spherical parallel manipulator with orthogonal platforms. The forward displacement analysis of these new classes of spherical parallel manipulators is investigated in sequence. Polynomials of degree 4, 2 and 2 in one unknown respectively can be obtained to inscribe this problem. Due to dual solutions of other unknowns, a maximum of eight solutions might be possible for each of the new analytic spherical parallel manipulators.

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