Kinematic and Workspace Analysis of the Master Robot in the Sinaflex Robotic Telesurgery System

In this paper, a 3-DOF translational parallel mechanism with parallelogram linkage was studied. According to the space vector relation between the moving platform and the fixed base, the direct and inverse position solutions of this mechanism was deduced through analytical method. In addition, the error of the algorithm was analyzed, and the algorithm had turned out to be effective and to have the satisfactory computational precision. On the above basis, the workspace of this mechanism was found through graphical method, which was compared with that of finding through Monte Carlo method, and there was the feasibility for analyzing the workspace of the mechanism by graphical method. The characteristic of the mechanism was analyzed by comparing the results of two analysis methods, which provided a theoretical basis for the application of the mechanism.

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Doublel-robot coordination workspace Analysis based on Matlab

MATEC Web of Conferences ◽

10.1051/matecconf/201823203057 ◽

2018 ◽

Vol 232 ◽

pp. 03057

Author(s):

Wei Wang ◽

Yong Xu

Keyword(s):

Boundary Surface ◽

Value Theory ◽

Working Space ◽

The Monte Carlo Method ◽

Workspace Analysis ◽

Solution Equation ◽

Space Boundary ◽

Robot Cooperation ◽

Limit Position ◽

Cooperation System

Aiming at the requirements of dual robot collaborative operation, a dual robot cooperation system model is established in SolidWorks2012 software to study the dual robot cooperation space. The D-H parameters are established, and the kinematics positive solution equation is obtained. The dual robot cooperative kinematics model is given. Based on the Monte Carlo method, the workspace of the dual robot is solved. The extreme value theory method is used to analyze and calculate, so as to extract the precise boundary contour of the common area of the dual robot workspace, and the collaborative space boundary surface and limit position of the dual robot are determined. The optimal coordinated working space of the dual robot end effector is obtained, which lays a theoretical foundation for the coordinated trajectory planning of the dual robot.

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Workspace, dexterity and dimensional optimization of microhexapod

Assembly Automation ◽

10.1108/aa-03-2015-020 ◽

2015 ◽

Vol 35 (4) ◽

pp. 341-347 ◽

Cited By ~ 1

Author(s):

E. Rouhani ◽

M. J. Nategh

Keyword(s):

Degrees Of Freedom ◽

Optimization Problem ◽

Screw Theory ◽

Design Parameters ◽

Dimensional Synthesis ◽

Content Type ◽

Workspace Analysis ◽

The Difference ◽

Flexure Joints ◽

6 Degrees Of Freedom

Purpose – The purpose of this paper is to study the workspace and dexterity of a microhexapod which is a 6-degrees of freedom (DOF) parallel compliant manipulator, and also to investigate its dimensional synthesis to maximize the workspace and the global dexterity index at the same time. Microassembly is so essential in the current industry for manufacturing complicated structures. Most of the micromanipulators suffer from their restricted workspace because of using flexure joints compared to the conventional ones. In addition, the controllability of micromanipulators inside the whole workspace is very vital. Thus, it is very important to select the design parameters in a way that not only maximize the workspace but also its global dexterity index. Design/methodology/approach – Microassembly is so essential in the current industry for manufacturing complicated structures. Most of the micromanipulators suffer from their restricted workspace because of using flexure joints compared to the conventional ones. In addition, the controllability of micromanipulators inside the whole workspace is very vital. Thus, it is very important to select the design parameters in a way that not only maximize the workspace but also its global dexterity index. Findings – It has been shown that the proposed procedure for the workspace calculation can considerably speed the required calculations. The optimization results show that a converged-diverged configuration of pods and an increase in the difference between the moving and the stationary platforms’ radii cause the global dexterity index to increase and the workspace to decrease. Originality/value – The proposed algorithm for the workspace analysis is very important, especially when it is an objective function of an optimization problem based on the search method. In addition, using screw theory can simply construct the homogeneous Jacobian matrix. The proposed methodology can be used for any other micromanipulator.

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Determination of the Workspace of a Three-Degrees-of-Freedom Parallel Manipulator Using a Three-Dimensional Computer-Aided-Design Software Package and the Concept of Virtual Chains1

Journal of Mechanisms and Robotics ◽

10.1115/1.4031656 ◽

2015 ◽

Vol 8 (2) ◽

Cited By ~ 7

Author(s):

Andrew Johnson ◽

Xianwen Kong ◽

James Ritchie

Keyword(s):

Computer Aided Design ◽

Parallel Manipulator ◽

Degrees Of Freedom ◽

Graphical Representation ◽

Three Dimensional ◽

Parallel Manipulators ◽

Workspace Analysis ◽

Computer Aided ◽

Aided Design

The determination of workspace is an essential step in the development of parallel manipulators. By extending the virtual-chain (VC) approach to the type synthesis of parallel manipulators, this technical brief proposes a VC approach to the workspace analysis of parallel manipulators. This method is first outlined before being illustrated by the production of a three-dimensional (3D) computer-aided-design (CAD) model of a 3-RPS parallel manipulator and evaluating it for the workspace of the manipulator. Here, R, P and S denote revolute, prismatic and spherical joints respectively. The VC represents the motion capability of moving platform of a manipulator and is shown to be very useful in the production of a graphical representation of the workspace. Using this approach, the link interferences and certain transmission indices can be easily taken into consideration in determining the workspace of a parallel manipulator.

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Automatic workspace analysis and vehicle adaptation for hydraulic underwater manipulators

OCEANS 2009 ◽

10.23919/oceans.2009.5422068 ◽

2009 ◽

Author(s):

Jan Albiez ◽

Marc Hildebrandt ◽

Jochen Kerdels ◽

Frank Kirchner

Keyword(s):

Workspace Analysis

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Workspace analysis and trajectory tracking of a planar hybrid manipulator with ball screw feed drive

Journal of the Brazilian Society of Mechanical Sciences and Engineering ◽

10.1007/s40430-019-1878-5 ◽

2019 ◽

Vol 41 (9) ◽

Cited By ~ 2

Author(s):

Rashmi Arora ◽

Dharmveer Agarwal ◽

Tarun Kumar Bera

Keyword(s):

Trajectory Tracking ◽

Ball Screw ◽

Feed Drive ◽

Workspace Analysis ◽

Hybrid Manipulator ◽

Screw Feed

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WSRender: A Workspace Analysis and Visualization Toolbox for Robotic Manipulator Design and Verification

IEEE Robotics and Automation Letters ◽

10.1109/lra.2019.2929986 ◽

2019 ◽

Vol 4 (4) ◽

pp. 3836-3843 ◽

Cited By ~ 1

Author(s):

Dandan Zhang ◽

Francesco Cursi ◽

Guang-Zhong Yang

Keyword(s):

Robotic Manipulator ◽

Workspace Analysis ◽

Manipulator Design

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Kinematic-, Static- and Workspace Analysis of a 6-P-U-S Parallel Manipulator

Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2010-28978 ◽

2010 ◽

Cited By ~ 7

Author(s):

Madusudanan Sathia Narayanan ◽

Sourish Chakravarty ◽

Hrishi Shah ◽

Venkat N. Krovi

Keyword(s):

Structural Design ◽

Parallel Manipulators ◽

Type I ◽

Kinematic Modeling ◽

Workspace Analysis ◽

Reaction Forces ◽

Specific Configuration ◽

Parallel Kinematic ◽

Stewart Gough Platform

This paper examines the symbolic kinematic modeling of a general 6-P-U-S (prismatic-universal-spherical) parallel kinematic manipulator (PKM). The base location of actuators has been previously shown to lead to: (i) reduction of the (motor) weight carried by the legs; (ii) elimination of the actuation transmission requirement (through intermediary joints as in the case of the Stewart-Gough platform); and (iii) most-importantly absorption of reaction-forces by the ground. We focus on using the symbolic equations to derive the conditions for type I and II singularities of this class of parallel manipulators. Based on these conditions, this system of equations is specialized to a specific configuration of the platform that has superior structural design and comparatively minimal singularities within its workspace. A series of studies were conducted to investigate the quality of workspace as well as estimate the actuation requirements for a unit payload carried over their workspace using the symbolic Jacobian model for this specialized configuration.

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