scholarly journals A Six Degree of Freedom Epicyclic-Parallel Manipulator

2012 ◽  
Vol 4 (4) ◽  
Author(s):  
Chao Chen ◽  
Thibault Gayral ◽  
Stéphane Caro ◽  
Damien Chablat ◽  
Guillaume Moroz ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
End Effector ◽  
Six Dof ◽  
Six Degree Of Freedom

A new six-dof epicyclic-parallel manipulator with all actuators allocated on the ground is introduced. It is shown that the system has a considerably simple kinematics relationship, with the complete direct and inverse kinematics analysis provided. Further, the first and second links of each leg can be driven independently by two motors. The serial and parallel singularities of the system are determined, with an interesting feature of the system being that the parallel singularity is independent of the position of the end-effector. The workspace of the manipulator is also analyzed with future applications in haptics in mind.

Parametric Design of a Spherical Eight-Bar Linkage Based on a Spherical Parallel Manipulator

2008 ◽  
Vol 1 (1) ◽  
Author(s):  
Gim Song Soh ◽  
J. Michael McCarthy
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Parametric Design ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
End Effector ◽  
Arbitrary Base ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

This paper presents a procedure that determines the dimensions of two constraining links to be added to a three degree-of-freedom spherical parallel manipulator so that it becomes a one degree-of-freedom spherical (8, 10) eight-bar linkage that guides its end-effector through five task poses. The dimensions of the spherical parallel manipulator are unconstrained, which provides the freedom to specify arbitrary base attachment points as well as the opportunity to shape the overall movement of the linkage. Inverse kinematics analysis of the spherical parallel manipulator provides a set of relative poses between all of the links, which are used to formulate the synthesis equations for spherical RR chains connecting any two of these links. The analysis of the resulting spherical eight-bar linkage verifies the movement of the system.

scholarly journals Kinematic analysis of the 3-RPS-3-SPR series–parallel manipulator

Robotica ◽  
2018 ◽  
Vol 37 (7) ◽  
pp. 1240-1266 ◽  
Author(s):  
Abhilash Nayak ◽  
Stéphane Caro ◽  
Philippe Wenger
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
End Effector ◽  
Inverse Kinematics Problem ◽  
Univariate Polynomial ◽  
Six Degree Of Freedom ◽  
Independent Parameters ◽  
Direct Kinematics

SUMMARYThis paper deals with the kinematic analysis and enumeration of singularities of the six degree-of-freedom 3-RPS-3-SPR series–parallel manipulator (S–PM). The characteristic tetrahedron of the S–PM is established, whose degeneracy is bijectively mapped to the serial singularities of the S–PM. Study parametrization is used to determine six independent parameters that characterize the S–PM and the direct kinematics problem is solved by mapping the transformation matrix between the base and the end-effector to a point in ℙ7. The inverse kinematics problem of the 3-RPS-3-SPR S–PM amounts to find the location of three points on three lines. This problem leads to a minimal octic univariate polynomial with four quadratic factors.

scholarly journals Kinematics Simulation of Gough-Stewart Parallel Manipulator by Using Simulink Package in Matlab Software

2019 ◽  
Vol 27 (2) ◽  
pp. 10-20
Author(s):  
Hassan Mohammed Alwan ◽  
Riyadh Ahmed Sarhan
Keyword(s):  
Theoretical Model ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
Matlab Software ◽  
Kinematics Simulation ◽  
Moving Platform ◽  
Position And Orientation ◽  
Six Degree Of Freedom ◽  
Forward Equations

The Gough Stewart Robotic manipulator is a parallel manipulator with six-degree of freedom, which has six equations of Kinematics (Inverse and forward), with six variables (Lengths, Position, and Orientation). In this work derived the inverse equations, which used to compute the lengths of the linkages and its changes depended on the position and orientation of the platform's center, then derived the forward equations to calculate the position and orientation of the moving platform in terms of the lengths. This theoretical model of the kinematics analysis of the Gough Stewart has been built into the Simulink package in Matlab to obtain the lengths, position, and orientation for the manipulator at any time of motion. The input parameters (Position and Orientation) in inverse blocks compared with the output parameters (Position and Orientation) in the forward blocks, which show good results.

Structural Parameters Which Reduce the Number of Manipulator Configurations

1992 ◽  
Author(s):  
Constantinos Mavroidis ◽  
Bernard Roth
Keyword(s):  
General Class ◽  
Inverse Kinematics ◽  
Structural Parameters ◽  
Degree Of Freedom ◽  
Characteristic Polynomials ◽  
End Effector ◽  
Lower Maximum ◽  
Position And Orientation ◽  
Six Degree Of Freedom

Abstract The inverse kinematics of series-chain, six-degree-of-freedom manipulators has been developed to the point where it yields all possible configurations for a given end-effector position and orientation. In this paper we use the methods of inverse kinematics to uncover the conditions on the structural parameters which cause a manipulator to yield a lower maximum number of configurations than its general class. It is shown that the following conditions can cause a diminution In the maximum number of possible configurations: parallel joint axes, perpendicular joint axes, intersecting joint axes, and Bennett geometries. Using these geometries in 6R, 5R1P, 4R2P and 3R3P chains, this paper determines the reduction in degree of their characteristic polynomials.

Parallel Computational Algorithms for the Kinematics and Dynamics of Planar and Spatial Parallel Manipulators

1996 ◽  
Vol 118 (1) ◽  
pp. 22-28 ◽  
Author(s):  
C. M. Gosselin
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Kinematic Chains ◽  
Novel Approach ◽  
Judicious Choice ◽  
Six Degree Of Freedom ◽  
Three Degree Of Freedom

This paper introduces a novel approach for the computation of the inverse dynamics of parallel manipulators. It is shown that, for this type of manipulator, the inverse kinematics and the inverse dynamics procedures can be easily parallelized. The result is a closed-form efficient algorithm using n processors, where n is the number of kinematic chains connecting the base to the end-effector. The dynamics computations are based on the Newton-Euler formalism. The parallel algorithm arises from a judicious choice of the coordinate frames attached to each of the legs, which allows the exploitation of the parallel nature of the mechanism itself. Examples of the application of the algorithm to a planar three-degree-of-freedom parallel manipulator and to a spatial six-degree-of-freedom parallel manipulator are presented.

Structural Parameters Which Reduce the Number of Manipulator Configurations

1994 ◽  
Vol 116 (1) ◽  
pp. 3-10 ◽  
Author(s):  
C. Mavroidis ◽  
B. Roth
Keyword(s):  
General Class ◽  
Inverse Kinematics ◽  
Structural Parameters ◽  
Degree Of Freedom ◽  
Characteristic Polynomials ◽  
End Effector ◽  
Lower Maximum ◽  
Position And Orientation ◽  
Six Degree Of Freedom

The inverse kinematics of series-chain, six-degree-of-freedom manipulators has been developed to the point where it yields all possible configurations for a given end-effector position and orientation. In this paper we use the methods of inverse kinematics to uncover the conditions on the structural parameters which cause a manipulator to yield a lower maximum number of configurations than its general class. It is shown that the following conditions can cause a diminution in the maximum number of possible configurations: parallel joint axes, perpendicular joint axes, intersecting joint axes, and Bennett geometries. Using these geometries in 6R, 5R1P, 4R2P, and 3R3P chains, this paper determines the reduction in degree of their characteristic polynomials.

scholarly journals Mechanical Design and Kinematics Analysis of a Hydraulically Actuated Manipulator

2014 ◽  
Vol 8 (1) ◽  
pp. 457-461
Author(s):  
Xuewen Rong ◽  
Rui Song ◽  
Hui Chai ◽  
Xiaolin Ma
Keyword(s):  
Inverse Kinematics ◽  
Mechanical Design ◽  
Transformation Method ◽  
Inverse Kinematic ◽  
Kinematics Analysis ◽  
End Effector ◽  
Hydraulically Actuated ◽  
Inverse Solutions ◽  
Six Dof ◽  
Forward Kinematic

This paper gives a mechanism design of a six DOF hydraulically actuated manipulator firstly. Then its DH frames and link parameters are given. Next, its forward kinematic equations are derived according to homogeneous transformation method. Fourthly, the analytical solutions of its inverse kinematics are solved by given the position and posture of the end-effector simultaneously. The posture of the end-effector is given with three z-y-z Euler angles for they have obvious geometry meanings and are easy to be measured. In addition, the correctness of the inverse kinematic equations is verified in Simulink by comparing many sets of randomly produced joint variables in workspace and their corresponding inverse solutions.

A Low-Cost Hexa Platform for Efficient Force Control Systems Using Industrial Manipulators

2009 ◽  
Vol 147-149 ◽  
pp. 1-6 ◽  
Author(s):  
Rafal Osypiuk ◽  
Torsten Kröger
Keyword(s):  
Control Systems ◽  
Force Control ◽  
Execution Time ◽  
Low Cost ◽  
Degree Of Freedom ◽  
Industrial Manipulators ◽  
Control Concept ◽  
Six Dof ◽  
Parallel Platform ◽  
Six Degree Of Freedom

This contribution presents a new force control concept for industrial six-degree of freedom (DOF) manipulators, which uses a Hexa platform that provides an active environmental stiffness for all six DOFs. The paper focuses on the Hexa platform and is split into two essential parts: (i) parallel platform construction, and (ii) application of force control with industrial manipulators using a six-DOF environmental stiffness. This mechatronic solution almost gives one hundred percent robustness for stiffness changes in the environment, what guaranties a significant shortening of execution time.

Kinematics of a New High-Precision Three-Degree-of-Freedom Parallel Manipulator

2006 ◽  
Vol 129 (3) ◽  
pp. 320-325 ◽  
Author(s):  
Farhad Tahmasebi
Keyword(s):  
Power Dissipation ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Base Plane ◽  
Degree Polynomial ◽  
Payload Capacity ◽  
Half Angle ◽  
Three Degree Of Freedom ◽  
Direct Kinematics

Closed-form direct and inverse kinematics of a new three-degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three-DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base mounted, higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of the tangent of the half-angle between one of the limbs and the base plane. Hence, there are at most 16 assembly configurations for the manipulator. In addition, it is shown that the 16 solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.

A Novel Spherical Parallel Manipulator with Circular Guide

2013 ◽  
Vol 325-326 ◽  
pp. 1014-1018
Author(s):  
Hai Rong Fang ◽  
Zhi Hong Chen ◽  
Yue Fa Fang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
High Rigidity ◽  
Geometric Conditions ◽  
Spherical Parallel Manipulator

In this paper, a novel 3-degree-of-freedom (DOF) parallel manipulator that can perform three rotations around the remote centre is presented. The theory of screws and reciprocal screws is employed for the analysis of the geometric conditions. In particular, using circular guide to instead of R joints, so that has the advantage of enabling continuous 360° revolute around Z-axis. The inverse kinematics of mechanism is given and the workspace has a good performance. To compare with the machine constructed with traditional joints, it has the advantage of high rigidity and precision.

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