Design and kinematic analysis of modular reconfigurable parallel robots

2003 ◽  
Author(s):  
Guilin Yang ◽  
I-Ming Chen ◽  
Wee Kiat Lim ◽  
Song Huat Yeo
Keyword(s):  
Kinematic Analysis ◽  
Parallel Robots

Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis

2020 ◽  
Vol 13 (1) ◽  
Author(s):  
Sven Lilge ◽  
Kathrin Nuelle ◽  
Georg Boettcher ◽  
Svenja Spindeldreier ◽  
Jessica Burgner-Kahrs
Keyword(s):  
Recent Work ◽  
Constant Curvature ◽  
Kinematic Analysis ◽  
Flexible Structures ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Continuum Robots ◽  
Advantages And Disadvantages ◽  
Reference Design ◽  
Exact Quantification

Abstract The use of continuous and flexible structures instead of rigid links and discrete joints is a growing field of robotics research. Recent work focuses on the inclusion of continuous segments in parallel robots to benefit from their structural advantages, such as a high dexterity and compliance. While some applications and designs of these novel parallel continuum robots have been presented, the field remains largely unexplored. Furthermore, an exact quantification of the kinematic advantages and disadvantages when using continuous structures in parallel robots is yet to be performed. In this paper, planar parallel robot designs using tendon actuated continuum robots instead of rigid links and discrete joints are proposed. Using the well-known 3-RRR manipulator as a reference design, two parallel continuum robots are derived. Inverse and differential kinematics of these designs are modeled using constant curvature assumptions, which can be adapted for other actuation mechanisms than tendons. Their kinematic performances are compared to the conventional parallel robot counterpart. On the basis of this comparison, the advantages and disadvantages of using continuous structures in parallel robots are quantified and analyzed. Results show that parallel continuum robots can be kinematic equivalent and exhibit similar kinematic performances in comparison to conventional parallel robots depending on the chosen design.

Kinematic analysis and self-calibration of three-legged modular parallel robots

1999 ◽  
Author(s):  
Wee K. Lim ◽  
Guilin Yang ◽  
I-Ming Chen ◽  
Song H. Yeo
Keyword(s):  
Kinematic Analysis ◽  
Parallel Robots ◽  
Self Calibration

Kinematic Analysis of a Five-Legged Mobile Robot

2010 ◽  
Author(s):  
Muhammed R. Pac ◽  
Dan O. Popa
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Parallel Robots ◽  
The Body ◽  
Legged Robots ◽  
Upper Body ◽  
Design Changes ◽  
Robot Performance ◽  
The Impact

Legged robots are more maneuverable, and can negotiate rough terrain much better than conventional locomotion using wheels. However, since the kinematic or dynamic analysis of such robots involves closed chains, it is typically more difficult to investigate the impact of design changes, such as the number, or the design of its legs, to robot performance. Most legged robots consist of 4 legs (quadrupeds) or 6 legs (hexapods). This paper discusses the kinematic analysis of an unconventional, symmetrical 5-legged robot with 2-DOF (Degrees Of Freedom) universal joints in each leg. The analysis was carried out in order to predict the mobility of the upper body platform, and investigate the number of robot actuators needed for mobility. The product of exponentials formulation with respect to the local coordinate frames is used to describe the twists of the joints. The analysis is based on the idea that the robot body platform along with the legs can be considered instantaneously as a parallel robot manipulating the ground. Hence, the analysis can be done using the Jacobian formulation of parallel robots. Simulation results confirm the mobility analysis that the robot can have at most 3-DOF for the body and that these freedoms are coupled rotations and translations in 3D space also with a dependence on the configuration of the robot.

Six degrees of freedom parallel robots with C5 links

Robotica ◽  
1992 ◽  
Vol 10 (1) ◽  
pp. 35-44 ◽  
Author(s):  
Y. Amirat ◽  
F. Artigue ◽  
J. Pontnau
Keyword(s):  
Automotive Industry ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Parallel Architecture ◽  
Parallel Robot ◽  
Parallel Architectures ◽  
Parallel Robots ◽  
Left Hand ◽  
Six Degrees Of Freedom ◽  
Assembly Tasks

SummaryThis paper presents at first a static and kinematic analysis of closed chains mechanisms which permits to deduce different possible fully parallel architectures. Then we focus on a particular parallel architecture with C5 links designed to perform precise assembly tasks. A general modeling of this C5 parallel robot is presented. Two typical assembly tasks in the automotive industry are also proposed; the first one uses the C5 links parallel robot as a left-hand device, while the second one uses it as the terminal tool of a sequential manipulator.

The QuadroG Robot, a Parallel Robot With a Configurable Platform for Haptic Applications

2015 ◽  
Author(s):  
Salua Hamaza ◽  
Patrice Lambert ◽  
Marco Carricato ◽  
Just Herder
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Parallel Robot ◽  
Parallel Robots ◽  
End Effector ◽  
Contact Points ◽  
Loop Chain ◽  
End Effectors ◽  
4 Degrees Of Freedom

This paper explores the fundamentals of parallel robots with configurable platforms (PRCP), as well as the design and the kinematic analysis of those. The concept behind PRCP is that the rigid (non-configurable) end-effector is replaced by a closed-loop chain, the configurable platform. The use of a closed-loop chain allows the robot to interact with the environment from multiple contact points on the platform, which reflects the presence of multiple end-effectors. This results in a robot that successfully combines motion and grasping capabilities into a structure that provides an inherent high stiffness. This paper aims to introduce the QuadroG robot, a 4 degrees of freedom PRCP which finely merges planar motion together with grasping capabilities.

Forward Kinematic Analysis of Kinematically Redundant Hybrid Parallel Robots

2020 ◽  
Vol 12 (6) ◽  
Author(s):  
Kefei Wen ◽  
Clément M. Gosselin
Keyword(s):  
Real Time ◽  
Unique Solution ◽  
Kinematic Analysis ◽  
Parallel Robots ◽  
Degree Of Freedom ◽  
Real Time Control ◽  
The Real ◽  
Time Control ◽  
Forward Kinematic Problem ◽  
Forward Kinematic

Abstract This paper focuses on the forward kinematic analysis of (6 + 3)-degree-of-freedom kinematically redundant hybrid parallel robots. Because all of the singularities are avoidable, the robot can cover a very large orientational workspace. The control of the robot requires the solution of the direct kinematic problem using the actuator encoder data as inputs. Seven different approaches of solving the forward kinematic problem based on different numbers of extra encoders are developed. It is revealed that five of these methods can produce a unique solution analytically or numerically. An example is given to validate the feasibility of these approaches. One of the provided approaches is applied to the real-time control of a prototype of the robot. It is also revealed that the proposed approaches can be applied to other kinematically redundant hybrid parallel robots proposed by the authors.

Configuration Design and Kinematic Analysis on Some New 2R1T 3-DOF Parallel Robots

2011 ◽  
Vol 474-476 ◽  
pp. 840-845
Author(s):  
Da Chang Zhu ◽  
Fan Xiao ◽  
Liang Wang ◽  
Qi Hua Gu
Keyword(s):  
Dynamic Simulation ◽  
Kinematic Analysis ◽  
Screw Theory ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Configuration Design ◽  
Structural Synthesis ◽  
Systematic Method

Based on the screw theory,the paper presents a systematic method for structural synthesis of the two rotations and one translation parallel robot.According to the reciprocal product between kinetic screw and constrainted screw in screw theory.This method firstly creats possible branch structures and then generates diferent models of mechanism.By this method,the paper carries on the structural synthesis of the two rotations and one translation parallel robot,and also lists some of the mechanisms including a few new ones. Analyzsis solution of direct and inverse position.The dynamic simulation was conducted using the software of Adams.

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