Kinematics Performance Analysis of 2-RPU & 2-SPS Spatial Parallel Manipulator

2018 ◽  
Author(s):  
Haiyan An ◽  
Bin Li ◽  
Xinhua Zhao ◽  
Yangmin Li
Keyword(s):  
Performance Analysis ◽  
Parallel Manipulator

Motion Performance Analysis of Double-Cylinder Parallel Manipulators

2009 ◽  
Author(s):  
Hong Zhou ◽  
Shehu T. Alimi ◽  
Aravind Ravindranath ◽  
Hareesh Vepuri
Keyword(s):  
Performance Analysis ◽  
Parallel Manipulator ◽  
Critical Role ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Serial Manipulators ◽  
Operation Speed ◽  
Transmission Angle ◽  
Motion Performance ◽  
Two Degree Of Freedom

Double-cylinder parallel manipulators are closed-loop two-degree-of-freedom linkages. They are preferred to use because of their simplicity plus the common advantages of parallel manipulators such as high stiffness, load-bearing, operation speed and precision positioning. Like other parallel manipulators, the output motion of double-cylinder parallel manipulators is not as flexible as two-degree-of-freedom serial manipulators. The motion performance analysis plays a critical role for this type of parallel manipulator to be applied successfully. In this paper, the linkage feasibility conditions are established based on the transmission angle. When feasibility conditions are satisfied, there is no dead position during operation. The workspace is generated by using curve-enveloping theory. The singularity characteristics are analyzed within the workspace. The motion performance index contours within the workspace are produced using the condition number of the manipulator Jacobian matrix. The results of this paper provide guidelines to apply this type of parallel manipulator.

scholarly journals Performance Analysis of Gough Stewart Platform with 6 Limbs

2020 ◽  
Vol 22 (1) ◽  
pp. 133-142
Author(s):  
A. Chandrashekhar ◽  
G. Satish Babu
Keyword(s):  
Optimal Design ◽  
Performance Analysis ◽  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Stewart Platform ◽  
Stiffness Index ◽  
Important Criterion ◽  
Transmission Index ◽  
Application Fields ◽  
Optimal Designing

AbstractThis paper concentrates on widespread study of parallel manipulator. It focuses on optimal designing of manipulator which has a large number of application fields. Optimal design is an important criterion to improve the accuracy of a robot. Through optimal design a robot can achieve isotropic configurations where the condition number of its jacobian matrix equals one. In this we are also concentrating on transmission index and stiffness index along with their plots, which can affect the kinetostatic performance of the robot. In this the singularity of Gough Stewart platform is also studied.

Performance Analysis of Two Robots one Serial 4R and one Parallel 3T

2015 ◽  
Vol 762 ◽  
pp. 137-146
Author(s):  
Constantin Ocnărescu
Keyword(s):  
Performance Analysis ◽  
High Precision ◽  
Parallel Manipulator ◽  
Machine Building ◽  
Degree Of Freedom ◽  
Building Industry ◽  
Attractive Alternative ◽  
Kinematic Study ◽  
Structural Solution

A geometric and kinematic study between two structures of robots was performed, respectively a mechanical anthropomorphic structure, with bars and gears, with four degree of freedom, (dof), redundant (4R), which can avoid obstacles and a parallel manipulator with translation on three axes (3T). This 3T structural solution allows rapid and precise movements, which are important characteristics for machine building industry. All these features make the parallel manipulator to be an attractive alternative to the serial ones for high precision operations in a limited workspace.

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