Design and Workspace Analysis of a Higher Kinematic Pair Constrained Cable-Driven 6-UPS Bionic Parallel Chewing Robot

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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Dynamic Analysis of the Pipe Lifting Mechanism on the Deepwater Pipelaying Vessel

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.199-200.251 ◽

2011 ◽

Vol 199-200 ◽

pp. 251-256

Author(s):

Kai An Yu ◽

Ke Yu Chen

Keyword(s):

Numerical Analysis ◽

Dynamic Analysis ◽

High Efficiency ◽

Transport Systems ◽

Kinematic Pair ◽

Analysis Method ◽

Numerical Analysis Method ◽

Upper Limit ◽

Lifting Capacity ◽

Limit Position

Based on requirements of pipe transport systems on deepwater pipelaying vessel, a new pipe lifting mechanism was designed. It was composed of crank-rocker and rocker-slider mechanism with good lifting capacity and high efficiency. When the slider went to the upper limit position, the mechanism could approximatively dwell, meeting the requirement for transverse conveyor operation. According to the theory of dynamics, numerical analysis method was used to the dynamic analysis of the mechanism. The results showed the maximum counterforce was at the joint between the rocker and ground, and this calculation could be a guideline for the kinematic pair structure designing.

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Load of the slipper-swash plate kinematic pair of an axial piston pump

MATEC Web of Conferences ◽

10.1051/matecconf/201815708013 ◽

2018 ◽

Vol 157 ◽

pp. 08013 ◽

Cited By ~ 1

Author(s):

Tadeusz Złoto ◽

Konrad Kowalski

Keyword(s):

Piston Pump ◽

Geometrical Parameters ◽

Kinematic Pair ◽

Axial Piston Pump ◽

Swash Plate ◽

Axial Piston

The paper presents problems related to the twisting moment of the slipper. The load of the slipper and the piston has been presented and the complex formula of twisting moment of the slipper has been established. Achieved results has been presented graphically. The conducted research has indicated that the value of the twisting moment relays on both the exploitation and geometrical parameters.

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