A forward kinematics based statistical method for the pose errors of a 6-dof parallel manipulator

2013 ◽  
Author(s):  
Jian Ding ◽  
Jianguang Li ◽  
Yingxue Yao ◽  
Chuntian Xu ◽  
Huaijing Jing
Keyword(s):  
Statistical Method ◽  
Parallel Manipulator ◽  
Forward Kinematics

Forward kinematics of Stewart parallel manipulator based on step-adjusting Newton method

2018 ◽  
Vol 26 (12) ◽  
pp. 2982-2990
Author(s):  
强红宾 QIANG Hong-bin ◽  
王力航 WANG Li-hang ◽  
姜 雪 JIANG Xue ◽  
张立杰 ZHANG Li-jie
Keyword(s):  
Newton Method ◽  
Parallel Manipulator ◽  
Forward Kinematics

A Novel Parallel Mechanism With 3-RRUR Legs

2007 ◽  
Author(s):  
Yanwen Li ◽  
Yueyue Zhang ◽  
Lumin Wang ◽  
Zhen Huang
Keyword(s):  
Machine Tools ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Parallel Manipulators ◽  
Forward Kinematics ◽  
Symmetrical Structure ◽  
Forward Kinematic ◽  
Accumulated Error

This paper investigates a novel 4-DOF 3-RRUR parallel manipulator, the number and the characteristics of its degrees of freedom are determined firstly, the rational input plan and the invert and forward kinematic solutions are carried out then. The corresponding numeral example of the forward kinematics is given. This type of parallel manipulators has a symmetrical structure, less accumulated error, and can be used to construct virtual-axis machine tools. The analysis in this paper will play an important role in promoting the application of such manipulators.

A 2(3-RRPS) parallel manipulator inspired by Gough–Stewart platform

Robotica ◽  
2012 ◽  
Vol 31 (3) ◽  
pp. 381-388 ◽  
Author(s):  
Jaime Gallardo-Alvarado ◽  
Mario A. García-Murillo ◽  
Eduardo Castillo-Castaneda
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Forward Kinematics ◽  
Triangular Prism ◽  
Input Output ◽  
Six Degrees Of Freedom ◽  
Moving Platform

SUMMARYThis study addresses the kinematics of a six-degrees-of-freedom parallel manipulator whose moving platform is a regular triangular prism. The moving and fixed platforms are connected to each other by means of two identical parallel manipulators. Simple forward kinematics and reduced singular regions are the main benefits offered by the proposed parallel manipulator. The Input–Output equations of velocity and acceleration are systematically obtained by resorting to reciprocal-screw theory. A case study, which is verified with the aid of commercially available software, is included with the purpose to exemplify the application of the method of kinematic analysis.

scholarly journals Kinematic Analysis Of Tricept Parallel Manipulator

2012 ◽  
Vol 12 (5) ◽  
Author(s):  
Mir Amin Hosseini ◽  
Hamid-Reza Mohammadi Daniali
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Geometric Constraints ◽  
Design Parameters ◽  
Forward Kinematics ◽  
Jacobian Matrices ◽  
Moving Platforms ◽  
Workspace Optimization

Parallel manipulators consist of fixed and moving platforms connected to each other with some actuated links. They have some significant advantages over their serial counterparts. While, they suffer from relatively small workspaces, complex kinematics relations and highly singular points within their workspaces. In this paper, forward kinematics of Tricept parallel manipulator is solved analytically and its workspace optimization is performed. This parallel manipulator has a complex degree of freedom, therefore leads to dimensional in-homogeneous Jacobian matrices. Thus, we divide some entries of the Jacobian by units of length, thereby producing a new Jacobian that is dimensionally homogeneous. Moreover, its workspace is parameterized using some design parameters. Then, using GA method, the workspace is optimized subjects to some geometric constraints. Finally, dexterity of the design is evaluated. Keywords- Kinematic, Workspace, Singularity, TriceptABSTRAK - Manipulator selari terdiri daripada platform tetap dan bergerak yang bersambung antara satu sama lain dengan beberapa pautan bergerak. Manipulator selari mempunyai beberapa kebaikan tertentu dibandingkan dengan yang bersamaan dengannya. Walaupun ia mempunyai ruang kerja yang sempit, hubungan kinematik kompleks dan titik tunggal tinggi dalam linkungan ruang kerjanya. Dalam kajian ini, kinematik ke hadapan manipulator selari Tricept diselesaikan secara analisa dan pengoptimuman ruang kerja dijalankan. Manipulator selari ini mempunyai darjah kebebasan yang kompleks, yang menyebabkan ia mendorong kepada kehomogenan dimensi matriks Jacobian. Catatan Jacobian dibahagikan kepada unit panjang, dimana ia menghasilkan Jacobian baru yang homogen dimensinya. Tambahan, ruang kerjanya diparameterkan dengan menggunakan beberapa parameter reka bentuk. Kemudian, dengan kaedah GA, ruang kerja mengoptimakan subjek kepada beberapa kekangan geometrik. Akhirnya, kecakatan reka bentuk dinilaikan.Keywords- Kinematic, Workspace, Singularity, Tricept

Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism for Rehabilitation

2007 ◽  
Author(s):  
Jody A. Saglia ◽  
Jian S. Dai
Keyword(s):  
Control System ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Forward Kinematics ◽  
Control System Design ◽  
Ankle Rehabilitation ◽  
Redundantly Actuated ◽  
Moving Platform

This paper presents the geometry and the kinematic analysis of a parallel manipulator developed for ankle rehabilitation, as the beginning of a control system design process. First the geometry of the parallel mechanism is described, secondly the equations for the inverse and the forward kinematics are obtained, then the forward kinematics is analyzed in order to define all the possible configurations of the moving platform. Finally the Jacobian matrix of the rig is obtained by differentiating the position equations and the singularities are investigated, comparing the non-redundant and redundant type of mechanism.

Forward Kinematics in Polynomial Form of the General Stewart Platform1

1998 ◽  
Vol 123 (2) ◽  
pp. 254-260 ◽  
Author(s):  
Carlo Innocenti
Keyword(s):  
Parallel Manipulator ◽  
Polynomial Equation ◽  
Polynomial Form ◽  
Floating Point ◽  
Forward Kinematics ◽  
Numerical Example ◽  
Univariate Polynomial ◽  
General Geometry ◽  
Floating Point Computation

The paper presents a new algorithm to solve, in polynomial form, the forward kinematics of the general-geometry 6-6 fully-parallel manipulator. The forty solutions that the problem at hand admits in the complex domain are found by determining the roots of a 40th-order univariate polynomial equation. Unlike the existing algorithm, the proposed one is suitable for implementation in a standard floating-point computation environment. A numerical example shows application of the new algorithm to a case study.

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