Design and Singularity Analysis of a 3-Translational-DOF In-Parallel Manipulator*

2002 ◽  
Vol 124 (3) ◽  
pp. 419-426 ◽  
Author(s):  
L. Romdhane ◽  
Z. Affi ◽  
M. Fayet
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Singularity Analysis ◽  
Orientation Error ◽  
Kinematic Chains ◽  
Prismatic Joints ◽  
Forward Kinematic ◽  
3D Solid ◽  
Novel Design

In this work, we shall present a novel design of a 3-translational-DOF in-parallel manipulator having 3 linear actuators. Three variable length legs constitute the actuators of this manipulator, whereas two other kinematic chains with passive joints are used to eliminate the three rotations of the platform with respect to the base. This design presents several advantages compared to other designs of similar 3-translational-dof parallel manipulators. First, the proposed design uses only revolute or spherical joints as passive joints and hence, it avoids problems that are inherent to the nature of prismatic joints when loaded in arbitrary way. Second, the actuators are chosen to be linear and to be located in the three legs since this design presents higher rigidity than other. In the second part of this paper, we addressed the problem of kinematic analysis of the proposed in-parallel manipulator. A mixed geometric and vector formulation is used to show that two solutions exist for the forward kinematic analysis. The problem of singularities is also investigated using the same method. In this work, we investigated the singularities of the active legs and the two types of singularity were identified: architectural singularities and configurational singularities. The singularity of the passive chains, used to restrict the motion of the platform to only three translations, is also investigated. In the last part of this paper, we built a 3D solid model of the platform and the amplitude of rotation due to the deformation of the different links under some realistic load was determined. This allowed us to estimate the “orientation error” of the platform due to external moments. Moreover, this analysis allowed us to compare the proposed design (over constrained) with a modified one (not over constrained). This comparison confirmed the conclusion that the over constraint design has a better rigidity.

Kinematics and Singularity Analysis of the Hexaglide Parallel Robot

2008 ◽  
Author(s):  
Mansour Abtahi ◽  
Hodjat Pendar ◽  
Aria Alasty ◽  
Gholamreza Vossoughi
Keyword(s):  
Machine Tools ◽  
Parallel Manipulator ◽  
High Speed ◽  
Jacobian Matrix ◽  
Parallel Manipulators ◽  
Parallel Robot ◽  
Singularity Analysis ◽  
The Past ◽  
Different Types ◽  
Forward Kinematic

In the past few years, parallel manipulators have become increasingly popular in industry, especially, in the field of machine tools. Hexaglide is a 6 DOF parallel manipulator that can be used as a high speed milling machine. In this paper, the kinematics and singularity of Hexaglide parallel manipulator are studied systematically. At first, this robot has been modeled and its inverse and forward kinematic problems have been solved. Then, formulas for solving inverse velocity are derived and Jacobian matrix is obtained. After that, three different types of singularity for this type of robot have been investigated. Finally a numerical example is presented.

Comparative Kinematic Analysis and Design Optimization of Redundant and Nonredundant Planar Parallel Manipulators Intended for Haptic Use

Robotica ◽  
2019 ◽  
Vol 38 (8) ◽  
pp. 1463-1477 ◽  
Author(s):  
Houssem Saafi ◽  
Houssein Lamine
Keyword(s):  
Design Optimization ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Kinematic Model ◽  
Parallel Manipulators ◽  
Geometric Parameters ◽  
Analysis And Design ◽  
Planar Parallel Manipulator ◽  
Forward Kinematic ◽  
Planar Parallel Manipulators

SUMMARYThis paper investigates a comparative kinematic analysis between nonredundant and redundant 2-Degree Of Freedom parallel manipulators. The nonredundant manipulator is based on the Five-Bar mechanism, and the redundant one is a 3-RRR planar parallel manipulator. This study is aimed to select the best structure for a haptic application. This latter requires a mechanism with a desired workspace of 10 cm × 10 cm and an admissible force of 5 N in all directions. The analysis criteria are the accuracy of the forward kinematic model and the required actuator torques. Thereby, the geometric parameters of the two structures are optimized in order to satisfy the required workspace such that parallel singularities are overcome. The analysis showed that the nonredundant optimally designed manipulator is more suitable for the haptic application.

scholarly journals Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide

Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 31
Author(s):  
Alexey Fomin ◽  
Anton Antonov ◽  
Victor Glazunov ◽  
Yuri Rodionov
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Forward Kinematics ◽  
Rotational Angle ◽  
End Effector ◽  
Kinematic Chains ◽  
Position And Orientation ◽  
Manipulator Design ◽  
Forward Kinematic

The proposed study focuses on the inverse and forward kinematic analysis of a novel 6-DOF parallel manipulator with a circular guide. In comparison with the known schemes of such manipulators, the structure of the proposed one excludes the collision of carriages when they move along the circular guide. This is achieved by using cranks (links that provide an unlimited rotational angle) in the manipulator kinematic chains. In this case, all drives stay fixed on the base. The kinematic analysis provides analytical relationships between the end-effector coordinates and six controlled movements in drives (driven coordinates). Examples demonstrate the implementation of the suggested algorithms. For the inverse kinematics, the solution is found given the position and orientation of the end-effector. For the forward kinematics, various assembly modes of the manipulator are obtained for the same given values of the driven coordinates. The study also discusses how to choose the links lengths to maximize the rotational capabilities of the end-effector and provides a calculation of such capabilities for the chosen manipulator design.

Kinematic Analysis and Design of Kinematically Redundant Parallel Mechanisms

2004 ◽  
Vol 126 (1) ◽  
pp. 109-118 ◽  
Author(s):  
Jing Wang ◽  
Cle´ment M. Gosselin
Keyword(s):  
Kinematic Analysis ◽  
Main Idea ◽  
Parallel Manipulators ◽  
Singularity Analysis ◽  
Degree Of Freedom ◽  
Redundant Manipulators ◽  
Parallel Mechanisms ◽  
Jacobian Matrices ◽  
Kinematic Chains ◽  
Analysis And Design

This paper addresses the singularity analysis and the design of three new types of kinematically redundant parallel mechanisms, i.e., the four-degree-of-freedom planar and spherical parallel mechanisms and the seven-degree-of-freedom spatial Stewart platform. The main idea in the design of these parallel manipulators is the addition of one redundant degree of freedom in one of the kinematic chains of the nonredundant manipulator. Such manipulators can be used to avoid the singularities inside the workspace of nonredundant manipulators. After describing the geometry of the manipulators, the velocity equations are derived and the expressions for the Jacobian matrices are obtained. Then, the singularity conditions are discussed. Finally, the expressions of the singularity loci of the kinematically redundant mechanisms are obtained and the singularity loci of the nonredundant and redundant manipulators are compared. It is shown here that the conditions for the singularity of the redundant manipulators are reduced drastically relative to the nonredundant ones. As a result, the proposed kinematically redundant parallel manipulators may be of great interest in several applications.

Synthesis and Design of a Novel 3T1R Fully-Parallel Manipulator

2008 ◽  
Vol 130 (4) ◽  
Author(s):  
Oscar Salgado ◽  
Oscar Altuzarra ◽  
Víctor Petuya ◽  
Alfonso Hernández
Keyword(s):  
Closed Form ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Parallel Manipulators ◽  
Singularity Analysis ◽  
Type Synthesis ◽  
Complete Type ◽  
Pick And Place ◽  
Schönflies Motion

In this paper a new topology of four degrees-of-freedom 3T1R fully-parallel manipulator is presented, which is defined only using lower kinematic pairs. The paper starts with a complete type synthesis of different topologies of fully-parallel manipulators that can perform the so-called Schönflies motion, based on the Theory of Groups of Displacements. After imposing some practical requirements, the different possibilities of manipulators are reduced to only one topology of fully-parallel and fully-symmetrical parallel manipulator. Then, the kinematic analysis of the manipulator is shown, including the closed-form resolution of both forward and inverse position problems, the velocity and the singularity analysis. Finally, a prototype of the manipulator is presented, which is intended to be used in pick and place applications.

Forward kinematic analysis of the 3- R P RS parallel manipulator

2017 ◽  
Vol 116 ◽  
pp. 262-272 ◽  
Author(s):  
Anirban Nag ◽  
Santhakumar Mohan ◽  
Sandipan Bandyopadhyay
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Forward Kinematic

Direct Position Analysis in Analytical Form of Parallel Manipulators Generating Structures With Topology SR-2PS

2004 ◽  
Author(s):  
Raffaele Di Gregorio
Keyword(s):  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Analytical Form ◽  
Solution Procedure ◽  
Generic Structure ◽  
Kinematic Chains ◽  
Position Analysis ◽  
In Series ◽  
The One ◽  
Wide Family

A wide family of parallel manipulators (PMs) is the one that groups all the PMs with three legs where the legs become kinematic chains constituted of a passive spherical pair (S) in series with either a passive prismatic pair (P) or a passive revolute pair (R) when the actuators are locked. The topologies of the structures generated by these manipulators, when the actuators are locked, are ten. One out of these topologies is the SR-2PS topology (one SR leg and two PS legs). This paper presents an algorithm that determines all the assembly modes of the structures with topology SR-2PS in analytical form. The presented algorithm can be applied without changes to solve, in analytical form, the direct position analysis of any parallel manipulator which generates a SR-2PS structure when the actuators are locked. In particular, the closure equations of a generic structure with topology SR-2PS are written. The eliminant of this system of equations is determined and the solution procedure is presented. Finally, the proposed procedure is applied to a real case. This work demonstrates that the solutions of the direct position analysis of any parallel manipulator which generates a SR-2PS structure when the actuators are locked are at most eight.

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 Novel Method on Singularity Analysis in Parallel Manipulators

2006 ◽  
Author(s):  
Hodjat Pendar ◽  
Maryam Mahnama ◽  
Hassan Zohoor
Keyword(s):  
Closed Loop ◽  
Parallel Manipulators ◽  
Singularity Analysis ◽  
Parallel Mechanisms ◽  
Kinematic Chains ◽  
Working Space ◽  
Novel Approach ◽  
Main Technique ◽  
Novel Method ◽  
Constraint Plane

A parallel manipulator is a closed loop mechanism in which a moving platform is connected to the base by at least two serial kinematic chains. The main problem engaged in these mechanisms, is their restricted working space as a result of singularities. In order to tackle these problems, many methods have been introduced by scholars. However, most of the mentioned methods are too much time consuming and need a great amount of computations. They also in most cases do not provide a good insight to the existence of singularity for the designer. In this paper a novel approach is introduced and utilized to identify singularities in parallel manipulators. By applying the new method, one could get a better understanding of geometrical interpretation of singularities in parallel mechanisms. Here we have introduced the Constraint Plane Method (CPM) and some of its applications in parallel mechanisms. The main technique used here, is based on Ceva Theorem.

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