Design and Kinematic Analysis of a 3RRlS Metamorphic Parallel Mechanism for Large-Scale Reconfigurable Space Multifingered Hand

2018 ◽  
Vol 10 (4) ◽  
Author(s):  
Chong Zhao ◽  
Hongwei Guo ◽  
Rongqiang Liu ◽  
Zongquan Deng ◽  
Bing Li
Keyword(s):  
Shape Memory Alloy ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Large Scale ◽  
Screw Theory ◽  
Kinematic Equation ◽  
Aerospace Application ◽  
Parasitic Motion ◽  
Geometric Conditions ◽  
In Series

Capturing noncooperative targets in space has great prospects for aerospace application. In this work, the knuckle unit of a large-scale reconfigurable space multifingered hand (LSRSMFH) for multitask requirements is studied. A plurality of knuckle units is connected in series to form a finger of the LSRSMFH. First, the lockable spherical (lS) joint, a new metamorphic joint that can function as a Hooke (lS1) or spherical (lS2) joint and is driven by shape memory alloy (SMA) material, is proposed. Based on the lS joint, this paper presents a new metamorphic parallel mechanism (MPM) (i.e., 3RRlS MPM), which has four configurations, namely, 3RRlS1, 3RRlS2, 2RRlS1-RRlS2, and 2RRlS2-RRlS1 configuration. The degree-of-freedom (DOF), overconstraint, and parasitic motion of the 3RRlS MPM are analyzed using screw theory, of which the DOF can be changed from 1 to 3. The 3RRlS1 configuration has a virtual constraint, and the 3RRlS2 configuration has parasitic motions. The results indicate that the mechanism motion screws can qualitatively represent the mechanism parasitic motions, and it is verified by deriving the kinematic equation of the 3RRlS MPM based on its spatial geometric conditions, the workspace of the 3RRlS MPM is further solved. The kinematic analysis indicates that the 3RRlS MPM can realize the folding, capturing, and reconfiguring conditions of the LSRSMFH.

Kinematic Analysis and Simulation of the Tri-Prism Deployable Structure

2015 ◽  
Vol 799-800 ◽  
pp. 1183-1187
Author(s):  
Huai Dong Zhou ◽  
Peng Zhen ◽  
Wu Sheng Chou
Keyword(s):  
Kinematic Analysis ◽  
Screw Theory ◽  
Mechanical Design ◽  
Complex Mechanism ◽  
Drive Mode ◽  
Kinematic Equation ◽  
Deployable Structure ◽  
In Series ◽  
The Relationship ◽  
Theoretical Results

The Tri-prism deployable structure is a complex mechanism which consists of six deployable structure units in series. All deployable structure units have the similar movements; the screw theory is used to establish the kinematic equation of each unit and the entire tri-prism deployable structure. Meanwhile, the motion stability, drive mode and mechanical design of the tri-prism deployable structure have been comprehensively researched. Finally, extensive simulations in ADAMS have been conducted to obtain the relationship between the motions of ends and inputs, which are further compared with theoretical results.

scholarly journals Type Synthesis of 3-Translational Redundant Actuated Parallel Mechanisms With Closed-Loop Branch Chains Based On Graphical Approach

2021 ◽  
Author(s):  
Yongquan Li ◽  
Hong-Sheng Jiang ◽  
Tian-Yu Zheng ◽  
Ke-Long Xi ◽  
Han Jing ◽  
...  
Keyword(s):  
Bearing Capacity ◽  
Parallel Mechanism ◽  
Large Scale ◽  
Vibration Isolation ◽  
Closed Loop ◽  
Screw Theory ◽  
Simple Calculation ◽  
Parallel Mechanisms ◽  
Logistics Industry ◽  
Graphical Approach

Abstract The 3-translational parallel mechanism is widely used in industrial, medical, and military fields, among others. With the development of the national logistics industry, a pressing need for a kind of 3-translational parallel mechanism emerged. Such mechanisms have high stiffness and high bearing capacity and are used for cargo handling and sorting. A novel method based on the graphical approach was proposed for the synthesis of 3-translational redundancy actuated parallel mechanism with closed-loop branch chains. The new mechanism has four symmetrically arranged branch chains, which eases subsequent kinematics and dynamics analyses while providing good mechanical properties. Based on the graphical approach theory, according to the constraint number contained in the branch chain, two types of redundant driven branch chains with closed-loop structures were constructed. The first type includes rotation constraint in one direction, while the second type includes the rotation constraint in two directions. Based on various combinations of two branch chain types, their allocation schemes can be divided into two types. Moreover, said these two allocation schemes can be integrated into at least 500 and 400 types of 3-translational redundant actuated parallel mechanisms with closed-loop branch chains. Then, the degree of freedom properties of representative mechanisms were tested using the screw theory. A large number of novel mechanisms were integrated assessed using this method, and branch chains such mechanisms were symmetrically distributed. They have a strong bearing capacity, simple calculation, and control, and can be applied to the handling and sorting of goods, large-scale precision machine tools, and large construction machinery vibration isolation systems, among others.

Compliant Mechanism Reconfiguration Based on Position Space Concept for Reducing Parasitic Motion

2015 ◽  
Author(s):  
Haiyang Li ◽  
Guangbo Hao
Keyword(s):  
Finite Element Analysis ◽  
Parallel Mechanism ◽  
Screw Theory ◽  
Compliant Mechanism ◽  
Position Space ◽  
Element Analysis ◽  
Compact Structure ◽  
Parasitic Motion ◽  
Compliant Parallel Mechanism ◽  
Space Concept

This paper introduces a compliant mechanism reconfiguration approach that can be used to minimize the parasitic motions of a compliant mechanism. This reconfiguration approach is based on the position spaces, identified by the screw theory, of independent compliant modules in a compliant mechanism system. The parasitic motions (rotations) of a compliant mechanism are first modelled associated with the variables representing any positions of the compliant modules in the position spaces. The optimal positions of the compliant modules are then obtained where the parasitic motions are reduced to minimal values. A procedure of the compliant mechanism reconfiguration approach is summarized and demonstrated using a decoupled XYZ compliant parallel mechanism as an example. The analytical results show that the parasitic motions of the XYZ compliant parallel mechanism in the example can be dramatically reduced by the position/structure reconfiguration, which is also validated by finite element analysis. The position space of a compliant module contains a number of possible positions, thus a compliant mechanism can also be efficiently reconfigured to a variety of practical patterns such as the configuration with compact structure.

Design and Analysis of a New Type Forging Manipulator

2017 ◽  
Author(s):  
Yanwen Li ◽  
Xiaofei Shi ◽  
Pengfei Mao ◽  
Yubo Cai ◽  
Maoling Wang
Keyword(s):  
Parallel Mechanism ◽  
Large Scale ◽  
Screw Theory ◽  
Synthesis Method ◽  
Degree Of Freedom ◽  
Lateral Movement ◽  
Kinematic Position ◽  
New Type ◽  
Forging Manipulator ◽  
Increasing Demand

Large-scale forging manipulator is the indispensable equipment in the operations of automated forging. Because of the increasing demand of forging manipulator, large and medium-sized enterprises pay more and more attention to the forging operation in production. Lower freedom parallel mechanism is obtained by using the constraint-synthesis method based on the screw theory, then a mechanism of forging manipulator is designed including raising and lowering, pitching, lateral swing, lateral movement, forth or back and clamp rotation. The new type forging manipulator is a hybrid serial-parallel mechanism. The degree of freedom of the parallel mechanism is calculated by using the modified Grübler-Kutzbach criterion, and then the degree of freedom of the machine is determined. Through closed geometric method, the kinematic position analysis is performed, and the correctness of the theoretical analysis results is verified.

Kinematic Analysis of A Novel 2-UPU/2-URU Parallel Mechanism

2011 ◽  
Vol 317-319 ◽  
pp. 469-474
Author(s):  
Shi Hua Li ◽  
Zhi Song Wang ◽  
Chang Cheng Yu ◽  
Wen Gong
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Influence Coefficient ◽  
Performance Curve ◽  
Kinematics Analysis

Abstract. In this paper, a novel type of 2-UPU/2-URU asymmetric parallel mechanism is put forward, the degree of freedom and kinematics characteristics of the mechanism is analyzed. Firstly, based on screw theory, the degree of freedom of the mechanism is analyzed by using modified Grübler-Kutzbach formula of Degree of Freedom, the method is ingenious and simple. Then the kinematics analysis is done. Finally, the velocity and acceleration of the mechanism is analyzed by combining kinematic influence coefficient theory with imaginary mechanism method, and draw the velocity and acceleration performance curve of the mechanism with the MATLAB. This paper lays the foundation for further research of the parallel mechanism.

A Method of Extended Jacobian and Firefly Algorithm for the Kinematic Analysis of Planar Robots

2017 ◽  
Vol 6 (2) ◽  
pp. 141
Author(s):  
T. Raja Prathab ◽  
R. Suja Mani Malar ◽  
T. Ahilan
Keyword(s):  
Kinematic Analysis ◽  
Large Scale ◽  
Firefly Algorithm ◽  
Fault Tolerant ◽  
Inverse Kinematic ◽  
Robot Arm ◽  
In Series ◽  
Cartesian Plane ◽  
The One ◽  
Planar Robots

Planar robots are one of the optimal robot form impacted in typical Cartesian plane. It consists of fixed divisions and connectors positioned in series which offers like working of human arm. The one end of robot arm position is fixed and the other arm of the robot move through the Cartesian plane by modifying the framework of arm joints. The kinematic analysis on planar robot includes position, velocity and acceleration are validated not by considering the force which cause motion to robot. The manipulator with lack of design and fault tolerant operation is analytical for application in remote and threat environment where periodic maintenance and improvements are not available. The most advanced architecture and operational flexibility of robots offer new probability and advancement in a large scale of fabrication process. This paper proposes inverse kinematic analysis of PUMA 560 robotic arm to conclude long range of fault tolerance. The proposed work incorporates Jacobian and Firefly algorithm are generally useful for determining inverse kinematics for redundant robots.

Kinematic analysis and dimensional synthesis of a three-degrees-of-freedom hybrid-drive parallel mechanism

2018 ◽  
Vol 233 (8) ◽  
pp. 2728-2752 ◽  
Author(s):  
Xingyu Zhao ◽  
Tieshi Zhao ◽  
Xuehan Xu ◽  
Hui Bian ◽  
Shixing Ding
Keyword(s):  
Performance Index ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Direct Method ◽  
Dimensional Synthesis ◽  
Hybrid Drive ◽  
Drive Mechanism ◽  
Three Degrees Of Freedom

With the increasing demand for the attitude adjustment and vibration isolation of the precision instruments, this paper proposes a three-degrees-of-freedom hybrid-drive parallel mechanism and carries out the kinematic analysis and dimensional synthesis for it. First, the advantages of the hybrid-drive unit are introduced by comparison with the common driving methods. Then, the degrees of freedom of the hybrid-drive parallel mechanism is analyzed by constrained screw method, and the displacement mapping relationship between the generalized input and the moving platform is obtained by a successive approximation iteration method. Furthermore, the first-order and the second-order influence coefficients of the hybrid-drive mechanism are established on the basis of screw theory and the direct method. Besides, the operational dexterity index, the transfer performance index and the stiffness performance index of the hybrid-drive mechanism are introduced, and each single-objective dimensional synthesis of the hybrid-drive mechanism is carried out by the interior point method. Moreover, the multi-objective dimensional synthesis of the hybrid-drive mechanism is proposed by combining the genetic algorithm and the Pareto-optimal solution. Finally, taking the integer numbers of No.23 Pareto set as the numerical example, the kinematics formulas of the hybrid-drive mechanism are verified by the simulation and the experiment.

Configuration and actuation analysis of a 2US+UPS asymmetrical parallel mechanism

2012 ◽  
Vol 226 (9) ◽  
pp. 2296-2308 ◽  
Author(s):  
Yun Qin ◽  
Jian S Dai
Keyword(s):  
Numerical Analysis ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Screw Theory ◽  
Singularity Analysis ◽  
Mobility Analysis ◽  
Dimensional Representation ◽  
Actuation Scheme

This article investigates an asymmetrical parallel mechanism with one universal–prismatic–spherical limb and two universal–spherical limbs and focuses on its mobility, configuration and dexterity analysis. The mobility analysis via screw theory reveals the mechanism of mobility four and leads to kinematic analysis. Mechanism configuration is then revealed with its model and actuation scheme. This leads to the singularity analysis and in particular to a new expression of direct kinematic near-singularity in an extended four-dimensional representation. Numerical analysis of local dexterity, which is illustrated with the change of platform position parameters, presents the range of better dexterous space.

Kinematic analysis and design of a novel 6-degree of freedom parallel robot

2014 ◽  
Vol 229 (2) ◽  
pp. 291-303 ◽  
Author(s):  
DU Hui ◽  
GAO Feng ◽  
PAN Yang
Keyword(s):  
Set Theory ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Design Methodology ◽  
Parallel Robot ◽  
End Effector ◽  
Analysis And Design ◽  
Velocity Models ◽  
Reachable Workspace ◽  
Rotational Motions

A novel 3-UP3R parallel mechanism with six degree of freedoms is proposed in this paper. One most important advantage of this mechanism is that the three translational and three rotational motions are partially decoupled: the end-effector position is only determined by three inputs, while the rotational angles are relative to all six inputs. The design methodology via GF set theory is brought out, using which the limb type can be determined. The mobility of the end-effector is analyzed. After that, the kinematic and velocity models are formulated. Then, workspace is studied, and since the robot is partially decoupled, the reachable workspace is also the dexterous workspace. In the end, both local and global performances are discussed using conditioning indexes. The experiment of real prototype shows that this mechanism works well and may be applied in many fields.

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