Fabrication and Analysis of a Novel 3 DOF Parallel Wrist Mechanism

This paper describes a three-degrees-of-freedom parallel-actuated wrist mechanism developed at Ohio University. This mechanism is capable of pointing an axis within a cone from the nominal position. The mechanism allows unlimited rotation about the pointing axis. Experiments were conducted to validate the kinematic model of the designed wrist.

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A Model of the Human Spine: Forward and Inverse Kinematics

22nd Biennial Mechanisms Conference: Flexible Mechanisms, Dynamics, and Analysis ◽

10.1115/detc1992-0426 ◽

1992 ◽

Author(s):

Sunil Kumar Agrawal ◽

Siyan Li ◽

Glen Desmier

Keyword(s):

Range Of Motion ◽

Inverse Kinematics ◽

Degrees Of Freedom ◽

Kinematic Model ◽

Joint Angles ◽

Human Spine ◽

Forward And Inverse Kinematics ◽

Position And Orientation ◽

Three Degrees Of Freedom ◽

Adjacent Vertebra

Abstract The human spine is a sophisticated mechanism consisting of 24 vertebrae which are arranged in a series-chain between the pelvis and the skull. By careful articulation of these vertebrae, a human being achieves fine motion of the skull. The spine can be modeled as a series-chain with 24 rigid links, the vertebrae, where each vertebra has three degrees-of-freedom relative to an adjacent vertebra. From the studies in the literature, the vertebral geometry and the range of motion between adjacent vertebrae are well-known. The objectives of this paper are to present a kinematic model of the spine using the available data in the literature and an algorithm to compute the inter vertebral joint angles given the position and orientation of the skull. This algorithm is based on the observation that the backbone can be described analytically by a space curve which is used to find the joint solutions..

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Accuracy estimation of a stretch-retractable single section continuum manipulator based on inverse kinematics

Industrial Robot the international journal of robotics research and application ◽

10.1108/ir-06-2018-0122 ◽

2019 ◽

Vol 46 (5) ◽

pp. 573-580

Author(s):

Hao Wang ◽

GuoHua Gao ◽

Qixiao Xia ◽

Han Ren ◽

LianShi Li ◽

...

Keyword(s):

Inverse Kinematics ◽

Degrees Of Freedom ◽

Kinematic Model ◽

Content Type ◽

Kinematics Model ◽

Six Degrees Of Freedom ◽

Single Section ◽

Motion Range ◽

Continuum Manipulator ◽

Three Degrees Of Freedom

Purpose The purpose of this paper is to present a novel stretch-retractable single section (SRSS) continuum manipulator which owns three degrees of freedom and higher motion range in three-dimension workspace than regular single continuum manipulator. Moreover, the motion accuracy was analyzed based on the kinematic model. In addition, the experiments were carried out for validation of the theory. Design/methodology/approach A kinematics model of the SRSS continuum manipulator is presented for analysis on bending, rotating and retracting in its workspace. To discuss the motion accuracy of the SRSS continuum manipulator, the dexterity theory was introduced based on the decomposing of the Jacobian matrix. In addition, the accuracy of motion is estimated based on the inverse kinematics and dexterity theory. To verify the presented theory, the motion of free end was tracked by an electromagnetic positioning system. According to the comparison of experimental value and theoretical analysis, the free end error of SRSS continuum manipulator is less than 6.24 per cent in the region with favorable dexterity. Findings This paper presents a new stretch-retractable continuum manipulator that the structure was composed of several springs as the backbone. Thus, the SRSS continuum manipulator could own wide motion range depending on its retractable structure. Then, the motion accuracy character of the SRSS continuum manipulator in the different regions of its workspace was obtained both theoretically and experimentally. The results show that the high accuracy region distributes in the vicinity of the outer boundary of the workspace. The motion accuracy gradually decreases with the motion position approaching to the center of its workspace. Research limitations/implications The presented SRSS continuum manipulator owns three degrees of freedom. The future work would be focused on the two-section structure which will own six degrees of freedom. Practical implications In this study, the SRSS continuum manipulator could be extended to six degrees of freedom continuum robot with two sections that is less one section than regular six degrees of freedom with three single section continuum manipulator. Originality/value The value of this study is to propose a SRSS continuum manipulator which owns three degrees of freedom and could stretch and retract to expend workspace, for which the accuracy in different regions of the workspace was analyzed and validated based on the kinematics model and experiments. The results could be feasible to plan the motion space of the SRSS continuum manipulator for keeping in suitable accuracy region.

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On Performance Enhancement of Parallel Kinematic Machine

Volume 2: 31st Design Automation Conference, Parts A and B ◽

10.1115/detc2005-85034 ◽

2005 ◽

Author(s):

Dan Zhang ◽

Lihui Wang

Keyword(s):

Remote Control ◽

Degrees Of Freedom ◽

Geometric Model ◽

Kinematic Model ◽

Parallel Kinematic Machine ◽

Web Based ◽

Remote Manipulation ◽

Parallel Kinematic ◽

Moving Platform ◽

Three Degrees Of Freedom

This paper proposes a spatial three degrees of freedom parallel kinematic machine enhanced by a passive leg and a web-based remote control system. First, the geometric model of the three degrees of freedom parallel kinematic machine is addressed; in the mechanism, a fourth kinematic link — a passive link connecting the base center to the moving platform center — is introduced. This last link is used to constrain the motion of the tool (located in the moving platform) to only three degrees of freedom, as well as to enhance the global stiffness of the structure and distribute the torque from machining. With the kinematic model, a web-based remote control approach is then applied. The concept of the web-based remote manipulation approach is introduced and the principles behind the method are explored in detail. Finally, an example of remote manipulation is demonstrated to the proposed 3-DOF structure using web-based remote control concept before conclusions.

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Kinematic-Model-Free Orientation Control for Robot Manipulation Using Locally Weighted Dual Quaternions

Robotics ◽

10.3390/robotics9040076 ◽

2020 ◽

Vol 9 (4) ◽

pp. 76

Author(s):

Ahmad AlAttar ◽

Petar Kormushev

Keyword(s):

Degrees Of Freedom ◽

Position Control ◽

Kinematic Model ◽

Model Learning ◽

Orientation Control ◽

Dual Quaternions ◽

Model Free ◽

Novel Method ◽

Model Free Controller ◽

Three Degrees Of Freedom

Conventional control of robotic manipulators requires prior knowledge of their kinematic structure. Model-learning controllers have the advantage of being able to control robots without requiring a complete kinematic model and work well in less structured environments. Our recently proposed Encoderless controller has shown promising ability to control a manipulator without requiring any prior kinematic model whatsoever. However, this controller is only limited to position control, leaving orientation control unsolved. The research presented in this paper extends the state-of-the-art kinematic-model-free controller to handle orientation control to manipulate a robotic arm without requiring any prior model of the robot or any joint angle information during control. This paper presents a novel method to simultaneously control the position and orientation of a robot’s end effector using locally weighted dual quaternions. The proposed novel controller is also scaled up to control three-degrees-of-freedom robots.

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Kinematic Calibration of a Three Degrees-of-Freedom Parallel Manipulator With a Laser Tracker

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4041749 ◽

2018 ◽

Vol 141 (3) ◽

Cited By ~ 7

Author(s):

Leiying He ◽

Qinchuan Li ◽

Xubiao Zhu ◽

Chuanyu Wu

Keyword(s):

Parallel Manipulator ◽

Degrees Of Freedom ◽

Kinematic Model ◽

Mapping Function ◽

Laser Tracker ◽

Geometrical Parameters ◽

Kinematic Calibration ◽

Positioning Errors ◽

Calibration Experiment ◽

Three Degrees Of Freedom

Kinematic calibration is commonly used to improve the accuracy of a parallel mechanism. This paper presents an effective method for calibrating an overconstrained three degrees-of-freedom parallel manipulator employing a direct kinematic model. An error-mapping function is formulated from the differential of its kinematic model which is established through vector chains with the geometrical errors. To simplify the measurement of the error, the positioning and orientation error of the moving platform is replaced by the positioning error of the tool center point, which can be measured by a laser tracker accurately. Three different objective functions F1, F2, and F∞, respectively, representing 1-norm, 2-norm, and inf-norm of the error vector are used to identify the geometrical parameters of the manipulator. The results of computer simulation show that parameters after kinematic calibration through minimizing the objective function F2 is highly accurate and efficient. A calibration experiment is carried out to verify the effectiveness of the method. The maximum residual of calibration points reduces greatly from 3.904 to 0.256 mm during parameter identification. The positioning errors of all points on and inside the space surrounded by the calibration points are smaller than 0.4 mm after error compensation.

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Kinematics Modeling of a Family of Pure Translational 3-P^UR Parallel Linear Manipulators

ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3 ◽

10.1115/esda2010-25278 ◽

2010 ◽

Author(s):

Giovanni Boschetti ◽

Roberto Caracciolo ◽

Alberto Trevisani

Keyword(s):

Analytical Solutions ◽

Degrees Of Freedom ◽

Kinematic Model ◽

Performance Indexes ◽

Kinematics Modeling ◽

Linear Actuators ◽

And Performance ◽

Three Degrees Of Freedom

This paper introduces a simplified kinematic model for a family of parallel linear manipulators with three degrees of freedom of pure translation. The P^UR topology of the limbs and the adjustable layout of the linear actuators are the main characteristics of such a family. The analytical solutions of the forward and inverse position and velocity kinematics are presented. Then the variations of the manipulator features in terms of workspace and performance indexes are investigated as functions of the actuators arrangement.

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Didactic demonstration of 3gdl robot dynamics and partitioned control for trajectory tracking

Revista de Tecnologías de la Información y Comunicaciones ◽

10.35429/jitc.2020.12.4.10.16 ◽

2020 ◽

pp. 10-16

Author(s):

Miguel Ramírez-Aguirre ◽

José Luis Ortiz-Simón ◽

Martha Aguilera-Hernández ◽

Nicolás Cruz-Hernández

Keyword(s):

Degrees Of Freedom ◽

Kinematic Model ◽

Inverse Kinematic ◽

Control Law ◽

Robot Dynamics ◽

End Effector ◽

Christoffel Symbols ◽

Work Area ◽

Centers Of Mass ◽

Three Degrees Of Freedom

The article presents the analysis of a robot with three degrees of freedom to follow trajectories through a partitioned control. Which is made up of two revolute and one prismatic joint where the end effector is located, that allows it to move correctly in its work area. This robot has a different structure from those most studied and analyzed by current literature, therefore it presents an opportunity to be used as a didactic resource, due to the structure, the degrees of freedom and the affinity of the models used by the students. The analysis consists of the use of the DH rule for the assignment of frames and referential axes, centers of mass, dynamic model by Jacobian and Christoffel symbols, inverse kinematic model, variables such as friction, gravitational and friction compensation, ending in a model in "Simulink" capable of following trajectories from the partitioned control law.

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The Kinematic Model with Three Degrees of Freedom Associated to the Direct Throwing in Basketball Game

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.658.495 ◽

2014 ◽

Vol 658 ◽

pp. 495-500

Author(s):

Radu Iacob ◽

Emil Budescu ◽

Eugen Merticaru ◽

Cezar Oprişan

Keyword(s):

Degrees Of Freedom ◽

Kinematic Model ◽

Equation System ◽

Angular Speed ◽

The Body ◽

Movement Speed ◽

Body Segments ◽

Geometric Conditions ◽

Basketball Game ◽

Three Degrees Of Freedom

The paper presents a reverse kinematic analysis for the free through to basket in order to determine the possible angular movement speed of the arm segments during throw flexion. The body segments offering three freedom degrees to the kinematic model are: the arm, the forearm and the hand. From geometric conditions regarding to the possibility of the ball to get through the basket and the analysis of the parabolic trajectory of the ball, one could determine the mathematical relations for the limitative values of the horizontal and vertical components of the initial velocity and consequently, for the calculation of the initial angle of throwing the ball. On the other hand, from the expression of the flexion movement of the considered body segments, it could be possible to obtain the calculation of the initial throw velocity as functions of the anthropometric data of the analyzed subject, of flexion angles and angular velocity of movement of the body segments. Using some models of functional mathematic analysis, from the two equations with three unknowns, one could determine the variation field of the system solutions. By setting the conditions related to the numeric limits of variation for the angular speed, the numeric field of the possible solutions for the equation system is straitened.

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