Kinematics and dynamics analysis of a 2-DOF spherical parallel robot

The dynamic modeling method for parallel robot based on the principle of virtual work and equivalent tree structure is proposed by taking off the platform and the chains as well as degenerating parallel robot into a tree structure, the closed-form solutions for the inverse and forward dynamics models of parallel robot are derived. The method is applied on kinematics and dynamics analysis of a representative 3-RRR spherical parallel robot.

Download Full-text

Kinematics and Dynamics Analysis of a 3-DOF Upper-Limb Exoskeleton with an Internally Rotated Elbow Joint

Applied Sciences ◽

10.3390/app8030464 ◽

2018 ◽

Vol 8 (3) ◽

pp. 464 ◽

Cited By ~ 2

Author(s):

Xin Wang ◽

Qiuzhi Song ◽

Xiaoguang Wang ◽

Pengzhan Liu

Keyword(s):

Upper Limb ◽

Elbow Joint ◽

Kinematics And Dynamics ◽

Dynamics Analysis ◽

Upper Limb Exoskeleton

Download Full-text

A virtual power algorithm for dynamics analysis of a 3-RRcP spherical parallel robot using the screw theory

Australian Journal of Mechanical Engineering ◽

10.1080/14484846.2018.1526439 ◽

2018 ◽

Vol 18 (3) ◽

pp. 351-363

Author(s):

Javad Enferadi ◽

Vahid Saffar

Keyword(s):

Screw Theory ◽

Parallel Robot ◽

Dynamics Analysis ◽

Virtual Power

Download Full-text

Typical configuration analysis of a modular reconfigurable cable-driven parallel robot

International Journal of Advanced Robotic Systems ◽

10.1177/1729881419834756 ◽

2019 ◽

Vol 16 (2) ◽

pp. 172988141983475 ◽

Cited By ~ 1

Author(s):

Tao Zhao ◽

Bin Zi ◽

Sen Qian ◽

Zeqiang Yin ◽

Dan Zhang

Keyword(s):

Inverse Kinematics ◽

Parallel Robot ◽

Structure Design ◽

Kinematics And Dynamics ◽

Lagrange Method ◽

Practical Applications ◽

Task Requirements ◽

Dynamics Models ◽

Typical Configuration ◽

And Control

To obtain better flexibility and multifunction in varying practical applications, several typical configurations of a modular reconfigurable cable-driven parallel robot are analyzed in this article. The spatial topology of the modular reconfigurable cable-driven parallel robot can be reconfigured by manually detaching or attaching the different number of modular branches as well as changing the connection points on the end-effector to satisfy diverse task requirements. The structure design of the modular reconfigurable cable-driven parallel robot is depicted in detail, including the design methodology, mechanical description, and control architecture. The inverse kinematics and dynamics of the modular reconfigurable cable-driven parallel robot considering diverse configurations are derived according to the vector closed rule and Lagrange method, respectively. The numerical simulation and related experiments of a typical configuration are achieved and analyzed. The results verify the effectiveness and feasibility of the inverse kinematics and dynamics models for the modular reconfigurable cable-driven parallel robot.

Download Full-text

Kinematics and dynamics analysis of a hybrid parallel-serial micromanipulator designed for biomedical applications

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics ◽

10.1109/aim.2013.6584107 ◽

2013 ◽

Cited By ~ 17

Author(s):

M. A. Nasseri ◽

M. Eder ◽

D. Eberts ◽

S. Nair ◽

M. Maier ◽

...

Keyword(s):

Biomedical Applications ◽

Kinematics And Dynamics ◽

Dynamics Analysis

Download Full-text

The Kinematics Simulation and Analysis of the Multilayer Carbon Fiber Loom's Beating-Up Mechanism in ADAMS

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.846-847.52 ◽

2013 ◽

Vol 846-847 ◽

pp. 52-55

Author(s):

Kai Yang ◽

Jian Cheng Yang ◽

Jian Feng Qin ◽

Hua Qing Wang ◽

Yu Bai ◽

...

Keyword(s):

Carbon Fiber ◽

Kinematics And Dynamics ◽

Dynamics Analysis ◽

Linkage Mechanism ◽

Solid Models ◽

Kinematics Simulation ◽

Weaving Technology ◽

3D Solid

This article designs a new set of beating-up mechanism for the multilayer angle interlocking construction loom based on the requirements of special material of carbon fiber and weaving technology,and it can battening 30 layers carbon fiber at a beating-up.Through building the 3D solid models for linkage mechanism in SolidWorks, it show that the beating-up mechanism Run smoothly by the kinematics and dynamics analysis of different beating-up rule in ADAMS.

Download Full-text

Dynamics Design of a Planar Controllable Five Bar Mechanism Based on Genetic Algorithm

Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2007-34168 ◽

2007 ◽

Author(s):

Ke Zhang

Keyword(s):

Genetic Algorithm ◽

Optimization Design ◽

Optimization Method ◽

Parallel Robot ◽

Bond Graph ◽

Dynamics Analysis ◽

Hybrid Mechanism ◽

Ga Algorithm ◽

Power Bond Graph ◽

Bond Graph Theory

A hybrid five bar mechanism is a typical planar parallel robot. It is a configuration that combines the motions of two characteristically different motors by means of a five bar mechanism to produce programmable output. Hybrid five bar mechanism is the most representative one of hybrid mechanism. In this paper, considering the bond graph can provide a compact and versatile representation for kinematics and dynamics of hybrid mechanism, the dynamics analysis for a hybrid five-bar mechanism based on power bond graph theory is introduced. Then an optimization design of hybrid mechanism is performed with reference to dynamic objective function. By the use of the properties of global search of genetic algorithm (GA), an improved GA algorithm is proposed based on real-code. Optimum dimensions are obtained assuming there are no dimensional tolerances or clearances. Finally, a numerical example is carried out, and the simulation result shows that the optimization method is feasible and satisfactory in the design of hybrid mechanism.

Download Full-text

7-DOF Cable-Driven Humanoid Robotic Arm

Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2011-48276 ◽

2011 ◽

Author(s):

Jun Ding ◽

Robert L. Williams

Keyword(s):

Linear Programming ◽

Robotic Arm ◽

Kinematics And Dynamics ◽

Dynamics Analysis ◽

Kinematics Analysis ◽

End Effector ◽

Motion Range ◽

Potential Benefits ◽

Redundant Mechanism ◽

Joint Limits

The purpose of this paper is to study a 7-DOF humanoid cable-driven robotic arm, implement kinematics and dynamics analysis, present different cable-driven designs and evaluate their merits and drawbacks. Since this is a redundant mechanism, kinematics optimization is used to avoid joint limits, singularities and obstacles. Cable kinematics analysis studies the relationships between cable length and the end-effector pose. This is a design modified from the literature. Several new designs are compared in pseudostatics analysis of the arm and a favorable design is suggested in terms of motion range and the cable tensions. Linear programming is used to optimize cable tensions. Dynamics analysis shows that the energy consumption of a cable-driven arm is much less than that of traditional motor-driven arm. Cable-driven robots have potential benefits but also some limitations.

Download Full-text