An Approach for Acceleration Analysis of Lower Mobility Parallel Manipulators

2011 ◽  
Vol 3 (1) ◽  
Author(s):  
Haitao Liu ◽  
Tian Huang ◽  
Derek G. Chetwynd
Keyword(s):  
Hessian Matrix ◽  
Parallel Manipulators ◽  
Unified Framework ◽  
Generalized Jacobian ◽  
New Approach ◽  
Kinematic Chains ◽  
Lower Mobility ◽  
Acceleration Analysis ◽  
Definition Of ◽  
Closure Constraints

This paper presents a new approach to the velocity and acceleration analyses of lower mobility parallel manipulators. Building on the definition of the “acceleration motor,” the forward and inverse velocity and acceleration equations are formulated such that the relevant analyses can be integrated under a unified framework that is based on the generalized Jacobian. A new Hessian matrix of serial kinematic chains (or limbs) is developed in an explicit and compact form using Lie brackets. This idea is then extended to cover parallel manipulators by considering the loop closure constraints. A 3-PRS parallel manipulator with coupled translational and rotational motion capabilities is analyzed to illustrate the generality and effectiveness of this approach.

scholarly journals Acceleration Analysis of 3DOF Parallel Manipulators

2013 ◽  
pp. 31-41
Author(s):  
Hassen Nigatu ◽  
Ajit Pal Singh ◽  
Solomon Seid
Keyword(s):  
Hessian Matrix ◽  
Parallel Manipulators ◽  
Unified Framework ◽  
Generalized Jacobian ◽  
New Approach ◽  
Kinematic Chains ◽  
Acceleration Analysis ◽  
Definition Of ◽  
Closure Constraints ◽  
Inverse Velocity

This paper presents a new approach to the velocity and acceleration analyses 3DOF parallel manipulators. Building on the definition of the ‘acceleration motor’, the forward and inverse velocity and acceleration equations are formulated such that the relevant analysis can be integrated under a unified framework that is based on the generalized Jacobian. A new Hessian matrix of serial kinematic chains (or limbs) is developed in an explicit and compact form using Lie brackets. This idea is then extended to cover parallel manipulators by considering the loop closure constraints. A 3- PRS parallel manipulator with coupled translational and rotational motion capabilities is analyzed to illustrate the generality and effectiveness of this approach.

An Approach for Acceleration Analysis of Lower Mobility Parallel Manipulator

2010 ◽  
Author(s):  
Haitao Liu ◽  
Tian Huang ◽  
Derek G. Chetwynd
Keyword(s):  
Parallel Manipulator ◽  
Hessian Matrix ◽  
Parallel Manipulators ◽  
Unified Framework ◽  
Generalized Jacobian ◽  
Kinematic Chains ◽  
Lie Bracket ◽  
Lower Mobility ◽  
Acceleration Analysis ◽  
Definition Of

This paper presents an approach for velocity and acceleration analyses of lower mobility parallel manipulators. Based on the definition of the acceleration motor, the forward/inverse velocity and acceleration equations are formulated with the goal to integrate the relevant analyses under a unified framework based on the generalized Jacobian. A new Hessian matrix of serial kinematic chains (or limb) is developed in an explicit and compact form using Lie bracket. This idea is then extended to cover parallel manipulators by considering the loop closure constraints. A 3-PRS parallel manipulator with coupled translational and rotational moving capabilities is taken as example to illustrate the generality and effectiveness of this approach.

An Approach to Determining the Unknown Twist/Wrench Subspaces of Lower Mobility Serial Kinematic Chains

2015 ◽  
Vol 7 (3) ◽  
Author(s):  
Tian Huang ◽  
Shuofei Yang ◽  
Manxin Wang ◽  
Tao Sun ◽  
Derek G. Chetwynd
Keyword(s):  
Linear Functional ◽  
Dual Space ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Dual Basis ◽  
Generalized Jacobian ◽  
Kinematic Chains ◽  
Essential Step ◽  
Effective Manner ◽  
Lower Mobility

Mainly drawing on screw theory and linear algebra, this paper presents an approach to determining the bases of three unknown twist and wrench subspaces of lower mobility serial kinematic chains, an essential step for kinematic and dynamic modeling of both serial and parallel manipulators. By taking the reciprocal product of a wrench on a twist as a linear functional, the underlying relationships among their subspaces are reviewed by means of the dual space and dual basis. Given the basis of a twist subspace of permissions, the causes of nonuniqueness in the bases of the other three subspaces are discussed in some depth. Driven by needs from engineering design, criteria, and a procedure are proposed that enable pragmatic, consistent bases of these subspaces to be determined in a meaningful, visualizable, and effective manner. Three typical examples are given to illustrate the entire process. Then, formulas are presented for the bases of the twist/wrench subspaces of a number of commonly used serial kinematic chains, which can readily be employed for the formulation of the generalized Jacobian of a variety of lower mobility parallel manipulators.

Forward/Reverse Velocity and Acceleration Analysis for a Class of Lower-Mobility Parallel Mechanisms

2006 ◽  
Vol 129 (4) ◽  
pp. 390-396 ◽  
Author(s):  
Si J. Zhu ◽  
Zhen Huang ◽  
Hua F. Ding
Keyword(s):  
Kinematic Analysis ◽  
Jacobian Matrix ◽  
Hessian Matrix ◽  
Degree Of Freedom ◽  
Parallel Mechanisms ◽  
Analysis Method ◽  
Rear Part ◽  
Lower Mobility ◽  
Acceleration Analysis

This paper proposes a novel kinematic analysis method for a class of lower-mobility mechanisms whose degree-of-freedom (DoF) equal the number of single-DoF kinematic pairs in each kinematic limb if all multi-DoF kinematic pairs are substituted by the single one. For such an N-DoF (N<6) mechanism, this method can build a square (N×N) Jacobian matrix and cubic (N×N×N) Hessian matrix. The formulas in this method for different parallel mechanisms have unified forms and consequently the method is convenient for programming. The more complicated the mechanism is (for instance, the mechanism has more kinematic limbs or pairs), the more effective the method is. In the rear part of the paper, mechanisms 5-DoF 3-R(CRR) and 5-DoF 3-(RRR)(RR) are analyzed as examples.

A Dual Space Approach for Force/Motion Transmissibility Analysis of Lower Mobility Parallel Manipulators

2015 ◽  
Vol 7 (3) ◽  
Author(s):  
Haitao Liu ◽  
Manxin Wang ◽  
Tian Huang ◽  
Derek G. Chetwynd ◽  
Andrés Kecskeméthy
Keyword(s):  
Systematic Approach ◽  
Local Maximum ◽  
Parallel Manipulators ◽  
Joint Space ◽  
Unified Framework ◽  
Different Types ◽  
Indeterminate Form ◽  
Lower Mobility ◽  
Space Approach ◽  
Dimensional Optimization

By drawing on the duality of twist space and wrench space, this paper presents a general and systematic approach for force/motion transmissibility analysis of lower mobility nonredundant and nonoverconstrained parallel manipulators. This leads to the formulation of a complete and justifiable model that enables the force/motion transmissibility analysis to be integrated into a unified framework under the umbrella of a homogenous and decoupled linear transformation that maps the coordinates of the platform wrench/twist in the joint space to its natural coordinates in the operation space. Utilizing the penalty method to avoid the indeterminate form “0/0” when the local maximum of a virtual coefficient approaches zero, a set of dimensionally homogeneous transmission indices is proposed which can be employed for precisely representing the closeness to different types of singularities defined in twist space as well as for dimensional optimization. An example is given to illustrate the effectiveness of this approach.

Symmetry and invariants of kinematic chains and parallel manipulators

Robotica ◽  
2012 ◽  
Vol 31 (1) ◽  
pp. 61-70 ◽  
Author(s):  
Roberto Simoni ◽  
Celso Melchiades Doria ◽  
Daniel Martins
Keyword(s):  
Group Theory ◽  
Automorphism Group ◽  
Kinematic Analysis ◽  
Group Structure ◽  
Kinematic Chain ◽  
Parallel Manipulators ◽  
Formal Definition ◽  
Kinematic Chains ◽  
Number Synthesis ◽  
Definition Of

SUMMARYThis paper presents applications of group theory tools to simplify the analysis of kinematic chains associated with mechanisms and parallel manipulators. For the purpose of this analysis, a kinematic chain is described by its properties, i.e. degrees-of-control, connectivity and redundancy matrices. In number synthesis, kinematic chains are represented by graphs, and thus the symmetry of a kinematic chain is the same as the symmetry of its graph. We present a formal definition of symmetry in kinematic chains based on the automorphism group of its associated graph. The symmetry group of the graph is associated with the graph symmetry. By using the group structure induced by the symmetry of the kinematic chain, we prove that degrees-of-control, connectivity and redundancy are invariants by the action of the automorphism group of the graph. Consequently, it is shown that it is possible to reduce the size of these matrices and thus reduce the complexity of the kinematic analysis of mechanisms and parallel manipulators in early stages of mechanisms design.

Formulation of Unique Form of Screw Based Jacobian for Lower Mobility Parallel Manipulators

2010 ◽  
Vol 3 (1) ◽  
Author(s):  
Man Bok Hong ◽  
Yong Je Choi
Keyword(s):  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Unique Form ◽  
Kinematic Chains ◽  
Revolute Joints ◽  
Serial Chain ◽  
Velocity Relation ◽  
Lower Mobility ◽  
Serial Chains ◽  
Inverse Velocity

In this paper, the unique form of the screw based Jacobian is suggested for lower mobility parallel manipulators. Utilizing the concept of the reciprocal Jacobian, the forward statics relation for each of the serial kinematic chains of a parallel manipulator can be first obtained and then used to derive both the forward statics and the inverse velocity relations of the manipulator. The screw based Jacobian of a parallel manipulator can be formulated from the inverse velocity relation in such a way that it consists of the reciprocal Jacobians of the serial kinematic chains. Since any reciprocal Jacobian is unique to the corresponding serial chain, the suggested form of the screw based Jacobian is also determined uniquely to the lower mobility parallel manipulator. Two examples are given to illustrate the proposed method, one for the 3DOF parallel manipulator with three identical prismatic-revolute-spherical joints-serial chains and the other for the 4DOF parallel manipulator with nonidentical serial chains (two spherical-prismatic-spherical- and one revolute-revolute-prismatic-revolute joints-serial chains).

scholarly journals A Review of the Literature on the Lower-Mobility Parallel Manipulators of 3-UPU or 3-URU Type

Robotics ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 5 ◽  
Author(s):  
Raffaele Di Gregorio
Keyword(s):  
20Th Century ◽  
Critical Review ◽  
Scientific Community ◽  
Parallel Manipulators ◽  
Rigid Bodies ◽  
Review Of The Literature ◽  
Kinematic Chains ◽  
Lower Mobility

Various 3-UPU architectures feature two rigid bodies connected to one another through three kinematic chains (limbs) of universal–prismatic–universal (UPU) type. They were first proposed in the last decade of the 20th century and have animated discussions among researchers for more-or-less two decades. Such discussions brought to light many features of lower-mobility parallel manipulators (PMs) that were unknown until then. The discussions also showed that such architectures may be sized into translational PMs, parallel wrists, or even reconfigurable (metamorphic) PMs. Even though commercial robots with these architectures have not yet been built, the interest in them remains. Consequently, a review of the literature on these architectures, highlighting their contribution to the progress of lower-mobility PM design, is still of interest for the scientific community. This paper aims at presenting a critical review of the results that have been obtained up until now.

Seeing, imagined, and lived

2020 ◽  
Vol 3 (2) ◽  
Author(s):  
Anandi Silva Knuppel
Keyword(s):  
Sensory Experience ◽  
Religious Practices ◽  
Daily Lives ◽  
New Approach ◽  
Theories Of Practice ◽  
Sources Of Authority ◽  
Definition Of

Scholarship on Hindu traditions and practices proposes the practice of darshan as fundamental to Hindu traditions, particularly in temple worship, observing that devotees seek out images of deities primarily to see them and “receive” their darshan. These works typically gloss the definition of darshan with a sentence or two about seeing, exchanging glances, and/or receiving blessings. In this paper, I focus on the ways in which darshan is ideally imagined in conjunction with other bodily sensory practices through sources of authority, such as texts and senior devotees, to create a specific sensory experience and expectation in the transnational Gaudiya Vaishnava community. I then look to the lived realitiesof darshan in this tradition, specifically how devotees negotiate the structures created through sources of authority in their daily lives. Through this juxtaposition of idealized and lived darshan, I argue that we need a new approach towards theories of practice to take into account the complexities of darshanic moments in this and other religious practices.

scholarly journals TOWARDS AN UNIFIED FRAMEWORK FOR VALIDATING DEEP LEARNING METHODS FOR COLORECTAL POLYPS: FIRST STEPS

2021 ◽  
Vol 108 (Supplement_3) ◽  
Author(s):  
L F Sánchez Peralta ◽  
J F Ortega Morán ◽  
Cr L Saratxaga ◽  
J B Pagador ◽  
A Picón ◽  
...  
Keyword(s):  
Deep Learning ◽  
Colorectal Polyps ◽  
Polyp Detection ◽  
Unified Framework ◽  
Endoscopic Image ◽  
Learning Techniques ◽  
Great Utility ◽  
Adenoma Detection ◽  
Definition Of ◽  
Basic Features

Abstract INTRODUCTION Deep learning techniques have significantly contributed to the field of medical imaging analysis. In case of colorectal cancer, they have shown a great utility for increasing the adenoma detection rate at colonoscopy, but a common validation methodology is still missing. In this study, we present preliminary efforts towards the definition of a validation framework. MATERIAL AND METHODS Different models based on different backbones and encoder-decoder architectures have been trained with a publicly available dataset that contains white light and NBI colonoscopy videos, with 76 different lesions from colonoscopy procedures in 48 human patients. A computer aided detection (CADe) demonstrator has been implemented to show the performance of the models. RESULTS This CADe demonstrator shows the areas detected as polyp by overlapping the predicted mask on the endoscopic image. It allows selecting the video to be used, among those from the test set. Although it only present basic features such as play, pause and moving to the next video, it easily loads the model and allows for visualization of results. The demonstrator is accompanied by a set of metrics to be used depending on the aimed task: polyp detection, localization and segmentation. CONCLUSIONS The use of this CADe demonstrator, together with a publicly available dataset and predefined metrics will allow for an easier and more fair comparison of methods. Further work is still required to validate the proposed framework.

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