Forward Position Analysis of the 3-DOF Module of the TriVariant: A 5-DOF Reconfigurable Hybrid Robot

2005 ◽  
Vol 128 (1) ◽  
pp. 319-322 ◽  
Author(s):  
Meng Li ◽  
Tian Huang ◽  
Derek G. Chetwynd ◽  
S. Jack Hu
Keyword(s):  
Analytical Method ◽  
Parallel Mechanism ◽  
Main Body ◽  
Position Analysis

This paper deals with the forward position analysis of a 3-DOF parallel mechanism module, which forms the main body of a 5-DOF reconfigurable hybrid robot named TriVariant. The TriVariant is a modified version of the Tricept robot, achieved by integrating one of the three active limbs into the passive one. The analytical method is employed to obtain the forward position solutions. It shows that the forward position analysis of the TriVariant is much simpler than that of the Tricept.

KINEMATICS AND WORKSPACE ANALYSIS OF A 3 DEGREE OF FREEDOM PARALLEL MECHANISM WITH PARALLELOGRAM LINKAGE

2017 ◽  
Vol 41 (5) ◽  
pp. 922-935
Author(s):  
HongJun San ◽  
JunSong Lei ◽  
JiuPeng Chen ◽  
ZhengMing Xiao ◽  
JunJie Zhao
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Method ◽  
Analytical Method ◽  
Theoretical Basis ◽  
Parallel Mechanism ◽  
Graphical Method ◽  
Degree Of Freedom ◽  
Workspace Analysis ◽  
Fixed Base ◽  
Moving Platform

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.

scholarly journals The Effect of the Optimization Selection of Position Analysis Route on the Forward Position Solutions of Parallel Mechanisms

Robotics ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 93
Author(s):  
Huiping Shen ◽  
Qing Xu ◽  
Ju Li ◽  
Ting-li Yang
Keyword(s):  
Parallel Mechanism ◽  
Selection Criterion ◽  
Parallel Mechanisms ◽  
Position Analysis ◽  
Kinematics Modeling ◽  
Position Solution ◽  
Independent Loops ◽  
Selection Of

The forward position solution (FPS) of any complex parallel mechanism (PM) can be solved through solving in sequence all of the independent loops contained in the PM. Therefore, when solving the positions of a PM, all independent loops, especially the first loop, must be correctly selected. The optimization selection criterion of the position analysis route (PAR) proposed for the FPS is presented in this paper, which can not only make kinematics modeling and solving efficient but also make it easy to get its symbolic position solutions. Two three-translation PMs are used as the examples to illustrate the optimization selection of their PARs and obtain their symbolic position solutions.

Kinematic Design of a Novel Spatial Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot

2015 ◽  
Vol 9 (1) ◽  
Author(s):  
Jianmin Li ◽  
Yuan Xing ◽  
Ke Liang ◽  
Shuxin Wang
Keyword(s):  
Minimally Invasive ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Point Of View ◽  
Surgical Robot ◽  
Main Body ◽  
Minimally Invasive Surgical ◽  
Surgical Tool ◽  
Movable Platform ◽  
Robotic Wrist

To deliver more value to the healthcare industry, a specialized surgical robot is needed in the minimally invasive surgery (MIS) field. To fill this need, a compact hybrid robotic wrist with four degrees of freedom (DOFs) is developed for assisting physicians to perform MIS. The main body of the wrist is a 2DOF parallel mechanism with a remote center-of-motion (RCM), which is located outside the mechanism. From the mechanical point of view, it is different from existing 2DOF spherical mechanisms, since there is no physical constraint on the RCM. Other DOFs of the wrist are realized by a revolute joint and a prismatic joint, which are serially mounted on the movable platform of the parallel mechanism. The function of these DOFs is to realize the roll motion and the in-out translation of the surgical tool. Special attention is paid to the parallel RCM mechanism. The detailed design is provided and the kinematic equations are obtained in the paper. Further, the Jacobian matrix is derived based on the kinematic equations. Finally, the paper examines the singularity configurations and implements the condition number analysis to identify the kinematic performance of the mechanism.

A Novel 5-DOF NC Serial-Parallel Machine Tool and its Position Analysis

2010 ◽  
Vol 431-432 ◽  
pp. 355-360
Author(s):  
Hong Jun San ◽  
Shi Sheng Zhong ◽  
Zhi Xing Wang
Keyword(s):  
Machine Tool ◽  
Analytical Method ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Structural Characteristics ◽  
Parallel Machine ◽  
Numerical Control ◽  
Forward Solution ◽  
In Series ◽  
Parallel Machine Tool

In this paper, a novel 5 degrees-of-freedom (DOF) numerical control (NC) serial-parallel machine tool is proposed. It can provide 3 translational DOF and 2 rotational DOF. The proposed mechine tool is composed of a 2-TPR/2-TPS special 4-DOF parallel mechanism in series with a rotatable component. The structure of this machine tool is simple. The machine tool can process the workpieces which have complex surfaces.The structural characteristics of this machine tool is introduced. The position inverse solution of this machine tool is deduced by analytical method and the position forward solution of this machine tool is achieved by numerical method.

Position Analysis in Analytical Form of the 3-PSP Mechanism

1999 ◽  
Vol 123 (1) ◽  
pp. 51-55 ◽  
Author(s):  
Raffaele Di Gregorio ◽  
Vincenzo Parenti-Castelli
Keyword(s):  
Nonlinear Equations ◽  
Parallel Mechanism ◽  
Analytical Form ◽  
Rigid Bodies ◽  
The Other ◽  
Kinematic Chains ◽  
Position Analysis ◽  
Fixed Base ◽  
Inverse Position Analysis ◽  
Movable Platform

In this paper the direct and the inverse position analysis of a 3-dof fully-parallel mechanism, known as 3-PSP mechanism, is addressed and solved in analytical form. The 3-PSP mechanism consists of two rigid bodies, one movable (platform) and the other fixed (base), connected to each other by means of three equal serial kinematic chains (legs) of type PSP, P and S standing for prismatic and spherical pair respectively. Both the direct and the inverse position analysis of this mechanism lead to nonlinear equations that are difficult to solve. In particular, the inverse position analysis comprises different subproblems which need specific solution techniques. Finally a numerical example is reported.

Motion and position analysis of 4-UPU parallel mechanism

2015 ◽  
Author(s):  
Xing-Wei Hu ◽  
Guang-Lan Xia ◽  
Bao-Lin Yin ◽  
Feng Yu ◽  
Wen-Lin Zhang
Keyword(s):  
Parallel Mechanism ◽  
Position Analysis

Position Analysis in Analytical Form of the 3-PSP Mechanism

1999 ◽  
Author(s):  
Raffaele Di Gregorio ◽  
Vincenzo Parenti-Castelli
Keyword(s):  
Parallel Mechanism ◽  
Linear Equations ◽  
Analytical Form ◽  
Rigid Bodies ◽  
Kinematic Chains ◽  
Position Analysis ◽  
Fixed Base ◽  
Inverse Position Analysis ◽  
Movable Platform ◽  
Non Linear Equations

Abstract In this paper the direct and the inverse position analysis of a 3-dof fully-parallel mechanism, known as 3-PSP mechanism, is addressed and solved in analytical form. The 3-PSP mechanism consists of two rigid bodies, one movable (platform) and the other fixed (base), connected to each other by means of three equal serial kinematic chains (legs) of type PSP, P and S standing for prismatic and spherical pair respectively. Both the direct and the inverse position analysis of this mechanism lead to non-linear equations that are difficult to solve. In particular, the inverse position analysis comprises different sub-problems which need specific solution techniques. Finally a numerical example is reported.

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