A Comparison Study of Three Degree-of-Freedom Micro-motion Parallel Kinematic Machines with/without Actuation Redundancy

2010 ◽  
Author(s):  
Dan Zhang ◽  
Qi Shi ◽  
Jian Li
Keyword(s):  
Degree Of Freedom ◽  
Comparison Study ◽  
Actuation Redundancy ◽  
Parallel Kinematic Machines ◽  
Micro Motion ◽  
Parallel Kinematic ◽  
Three Degree Of Freedom

scholarly journals PATH PLACEMENT OPTIMIZATION OF MANIPULATORS BASED ON ENERGY CONSUMPTION: APPLICATION TO THE ORTHOGLIDE 3-AXIS

2009 ◽  
Vol 33 (3) ◽  
pp. 523-541 ◽  
Author(s):  
Raza Ur-Rehman ◽  
Stéphane Caro ◽  
Damien Chablat ◽  
Philippe Wenger
Keyword(s):  
Energy Consumption ◽  
Optimal Path ◽  
Electric Energy ◽  
Optimal Location ◽  
Degree Of Freedom ◽  
Parallel Kinematic Machine ◽  
Dynamic Constraints ◽  
Placement Optimization ◽  
Parallel Kinematic ◽  
Three Degree Of Freedom

This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path within the workspace of a manipulator with minimal electric energy used by the actuators while taking into account the geometric, kinematic and dynamic constraints. The proposed methodology is applied to the Orthoglide 3-axis, a three-degree-of-freedom translational parallel kinematic machine (PKM), as an illustrative example.

Accuracy Synthesis of a 3-PRS Parallel Manipulator Based on Genetic Algorithms

2010 ◽  
Vol 97-101 ◽  
pp. 3432-3435
Author(s):  
Tao Sun ◽  
Yi Min Song ◽  
Liang Xu
Keyword(s):  
Mathematical Model ◽  
Genetic Algorithms ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Tolerance Range ◽  
Parallel Kinematic Machines ◽  
Limited Degree ◽  
Parallel Kinematic ◽  
The Mathematical Model

The existence of the non-compensable errors in limited-degree-of-freedom (limited-DoF) parallel kinematic machines (PKMs) affects the accuracy of mechanism and decreases the location capability. A 3-PRS parallel manipulator as an example, this paper formulates the mathematical model of the accuracy synthesis of the manipulator and carries out the accuracy synthesis based on the genetic algorithms, and then obtains the tolerance range of the non-compensable errors in the manufacture and the assembly.

scholarly journals Development of a Novel three degree of freedom XYθZ Micro-Motion Stage

2021 ◽  
Vol 14 (21) ◽  
pp. 1758-1774
Author(s):  
Rohit Navale ◽  
◽  
Amarsinh Kanase Patil ◽  
Jayesh Minase ◽  
Amar Pandhare
Keyword(s):  
Degree Of Freedom ◽  
Micro Motion ◽  
Motion Stage ◽  
Three Degree Of Freedom

scholarly journals Coupling analysis of a 5-degree-of-freedom hybrid manipulator based on a global index

2020 ◽  
Vol 103 (1) ◽  
pp. 003685041988189 ◽  
Author(s):  
Yanqin Zhao ◽  
Jiangping Mei ◽  
Wentie Niu ◽  
Mingkun Wu ◽  
Fan Zhang
Keyword(s):  
Degree Of Freedom ◽  
Global Index ◽  
Essential Information ◽  
Automotive Manufacturing ◽  
Parallel Kinematic Machines ◽  
Coupling Index ◽  
Hybrid Manipulator ◽  
Parallel Kinematic ◽  
Coupling Characteristics ◽  
And Control

Parallel kinematic machines have been applied in aerospace and automotive manufacturing due to their potentials in high speed and high accuracy. However, there exists coupling in parallel kinematic machines, which makes dynamic analysis, rigidity enhancement, and control very complicated. In this article, coupling characteristics of a 5-degree-of-freedom (5-dof) hybrid manipulator are analyzed based on a local index and a global index. First, velocity analysis as well as acceleration analysis of the robot is conducted to provide essential information for dynamic modeling. Then the dynamic model is built based on the principle of virtual work. Whereas the mass matrix is off-diagonal, a local coupling index as well as a global index is defined, based on which coupling characteristics of the robot are analyzed. Results show that distributions of coupling indices are symmetric due to its structural features. And dimensional parameters, structural parameters, as well as mass parameters have a large influence on the system’s coupling characteristics. Research conducted in the article is of great help in optimal design and control. Meanwhile, the method proposed in the article can be applied to other types of parallel kinematic machines or hybrid manipulators.

Analysis of Stiffness and Elastic Deformation for Some 3–5-DOF PKMs With SPR or RPS-type legs

2008 ◽  
Vol 130 (10) ◽  
Author(s):  
Yi Lu ◽  
Bo Hu
Keyword(s):  
Elastic Deformation ◽  
Degree Of Freedom ◽  
Geometric Constraints ◽  
Elastic Deformations ◽  
Jacobian Matrices ◽  
Parallel Kinematic Machines ◽  
Stiffness Matrices ◽  
Parallel Kinematic ◽  
Equivalent Mechanism

This paper proposes an equivalent mechanism approach for establishing the stiffness matrices of some 3–5DOF (degree of freedom) parallel kinematic machines (PKMs) with SP̱R- or RP̱S-type legs and solving their elastic deformations. First, the geometric constraints of constrained wrench of these PKMs are analyzed, and the poses of the active/constrained forces are determined. Second, based on the principle of virtue work and the determined active/constrained forces, the formulas are derived for solving the 6×6 Jacobian matrices of these PKMs and the stiffness matrices of SP̱R or RP̱S-type active legs. Third, based on the elastic deformations of the SP̱R or RP̱S active legs, the equivalent 6-DOF rigid PKMs of these elastic PKMs are constructed, and their 6×6 Jacobian matrices are derived. Finally, the formulas are derived for solving the total stiffness matrices and the elastic deformation of the 3DOF 3SP̱R, 3DOF 3RP̱S, 4DOF 2SP̱S+2SP̱R, and 5DOF 4SP̱S+SP̱R PKMs.

Dexterity and stiffness analysis of a three-degree-of-freedom planar parallel manipulator with actuation redundancy

2007 ◽  
Vol 221 (8) ◽  
pp. 961-969 ◽  
Author(s):  
J Wu ◽  
J-S Wang ◽  
L-P Wang ◽  
T-M Li
Keyword(s):  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Minimum Eigenvalue ◽  
Stiffness Analysis ◽  
Actuation Redundancy ◽  
Hybrid Machine Tool ◽  
Planar Parallel Manipulator ◽  
Redundantly Actuated ◽  
Singular Configuration ◽  
Three Degree Of Freedom

The current paper deals with the dexterity and stiffness of a three-degree of freedom (DOF) planar parallel manipulator with actuation redundancy, which is a subpart of a four-DOF-hybrid machine tool. Based on the kinematics, the dexterity is analysed. The stiffness indices, which are the maximum deflection of the moving platform under the action of a unit force and the minimum eigenvalue of the stiffness matrix of the manipulator, are presented for investigating the stiffness. According to the minimum eigenvalue index, it is proved that actuation redundancy can improve the stiffness of the parallel manipulator. Moreover, the relationship between the singular configuration and the stiffness of the parallel manipulator is discussed. Compared with the corresponding non-redundant parallel manipulator without the redundant link, the redundantly actuated parallel manipulator has better dexterity and higher stiffness.

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