Designing a Translational Parallel Manipulator Based on the 3SS Kinematic Joint

2019 ◽  
Vol 11 (5) ◽  
Author(s):  
Erik Macho ◽  
Mónica Urízar ◽  
Víctor Petuya ◽  
Alfonso Hernández
Keyword(s):  
Condition Number ◽  
Parallel Manipulator ◽  
Modular Design ◽  
Parallel Manipulators ◽  
Industrial Applications ◽  
Point Of View ◽  
Pick And Place ◽  
Prismatic Joints ◽  
Singularity Locus ◽  
Kinematic Joint

Abstract Nowadays, translational parallel manipulators are widely used in industrial applications related to pick and place tasks. In this paper, a new architecture of a translational parallel manipulator without floating prismatic joints and without redundant constraints is presented, which leads to a robust design from the manufacturing and maintenance point of view. The frame configuration has been chosen with the aim of achieving the widest and most regular operational workspace completely free of singularities. Besides, the position equations of the proposed design are obtained in a closed form, as well as the singularity locus. It will be shown that the proposed design owns a very simple kinematics so that the related equations can be efficiently implemented in the control of the robot. In addition, the Jacobian condition number assessment shows that a wide part of the operational workspace is well-conditioned, and also the existence of an isotropic configuration will be proved. Finally, a prototype has been built by following a modular design approach.

Optimum synthesis of planar parallel manipulators based on kinematic isotropy and force balancing

Robotica ◽  
2004 ◽  
Vol 22 (1) ◽  
pp. 97-108 ◽  
Author(s):  
Gürsel Alıcı ◽  
Bijan Shirinzadeh
Keyword(s):  
Condition Number ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Point Of View ◽  
Kinematic Chains ◽  
Optimum Synthesis ◽  
Planar Parallel Manipulator ◽  
Distribution Parameters ◽  
Optimisation Procedure ◽  
Planar Parallel Manipulators

This paper deals with an optimum synthesis of planar parallel manipulators using two constrained optimisation procedures based on the minimization of: (i) the overall deviation of the condition number of manipulator Jacobian matrix from the ideal/isotropic condition number, and (ii) bearing forces throughout the manipulator workspace for force balancing. A revolute jointed planar parallel manipulator is used as an example to demonstrate the methodology. The parameters describing the manipulator geometry are obtained from the first optimisation procedure, and subsequently, the mass distribution parameters of the manipulator are determined from the second optimisation procedure based on force balancing. Optimisation results indicate that the proposed optimisation approach is systematic, versatile and easy to implement for the optimum synthesis of the parallel manipulator and other kinematic chains. This work contributes to previously published work from the point of view of being a systematic approach to the optimum synthesis of parallel manipulators, which is currently lacking in the literature.

Five-Bar Double-Slider Two-DOF Parallel Manipulators for Singularity-Free Path Generation

2008 ◽  
Author(s):  
Hong Zhou ◽  
Kamlesh Borgaonkar ◽  
Govind Raj Venkat Rao
Keyword(s):  
Free Path ◽  
Condition Number ◽  
Parallel Manipulator ◽  
Closed Loop ◽  
Jacobian Matrix ◽  
Parallel Manipulators ◽  
Industrial Applications ◽  
Path Generation ◽  
Operation Speed ◽  
Proper Design

Parallel manipulators are closed-loop multi-degree-of-freedom linkages, which have the merits of high stiffness, load-bearing, operation speed and precision positioning capabilities that are required in many industrial applications. The main challenges for parallel manipulators are the limited workspace and singularity-free path generation capability. This paper is focused on the singularity-free path generation of five-bar double-slider two-DOF parallel manipulators. The linkage feasibility conditions are derived based on the elimination of dead point position within the workspace. The workspace is generated using the curve-enveloping theory. The singularity characteristics and linkage configurations are presented. The singularity-free path generation capability is analyzed. The performance index contours within the workspace are produced using the condition number of the manipulator Jacobian matrix. This paper shows that five-bar double-slider two-DOF parallel manipulators can be used as effective singularity-free path generators if properly designed. The results of this paper provide a useful map for the proper design of this type of parallel manipulator.

Five-Bar Cylinder-Crank Two-DOF Parallel Manipulators for Singularity-Free Path Generation

2009 ◽  
Author(s):  
Hong Zhou ◽  
Swetha Minupuri ◽  
Shilpa Indroju ◽  
Vasuda Gorti
Keyword(s):  
Free Path ◽  
Condition Number ◽  
Performance Index ◽  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Parallel Manipulators ◽  
Industrial Applications ◽  
Path Generation ◽  
Operation Speed ◽  
Proper Design

Parallel manipulators have the merits of high stiffness, load-bearing, operation speed and precision positioning capabilities that are required in many industrial applications. The main challenges for parallel manipulators are their limited workspace and singularity-free path generation capability. This paper is focused on the singularity-free path generation of five-bar cylinder-crank two-DOF parallel manipulators. The linkage feasibility conditions are derived based on the elimination of dead point position within the workspace. The workspace is generated using the curve-enveloping theory. The singularity characteristics and linkage configurations are presented. The singularity-free path generation capability is analyzed. The performance index contours within the workspace are produced using the condition number of the manipulator Jacobian matrix. This paper shows that five-bar cylinder-crank two-DOF parallel manipulators can be used as effective singularity-free path generators if properly designed. The results of this paper provide a useful map for the proper design of this type of parallel manipulator.

Kinematics of a Particular 3T1R Parallel Manipulator of Type 2PRPU

2017 ◽  
Author(s):  
Henrique Simas ◽  
Raffaele Di Gregorio
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Parallel Manipulators ◽  
Industrial Applications ◽  
End Effector ◽  
Serial Robots ◽  
Fixed Direction ◽  
Pick And Place ◽  
Displacement Group ◽  
4 Degrees Of Freedom

Schoenflies-motion generators (SMGs) are 4-degrees-of-freedom (dof) manipulators whose end effector can perform translations along three independent directions, and rotations around one fixed direction (Schoenflies motions). Such motions constitute the 4-dimensional (4-D) Schoenflies subgroup of the 6-D displacement group. The most known SMGs are the serial robots named SCARA. Pick-and-place tasks are typical industrial applications that SMGs can accomplish. In the literature, 3T1R parallel manipulators (PMs) have been also proposed as SMGs. Here, a somehow novel 3T1R PM is presented and studied. Its finite and instantaneous kinematics are analyzed in depth, and analytic and geometric tools that are useful for its design are presented. The proposed SMG has a single-loop not-overconstrained architecture with actuators on or near the base and can make the end effector perform a complete rotation.

Considering the Ability for Nonsingular Transitions of Assembly Mode for Dimensional Synthesis

2009 ◽  
Author(s):  
Oscar Altuzarra ◽  
Vi´ctor Petuya ◽  
Mo´nica Uri´zar ◽  
Alfonso Herna´ndez
Keyword(s):  
Parallel Manipulator ◽  
Analytical Procedure ◽  
Parallel Manipulators ◽  
Dimensional Synthesis ◽  
Complex Singularity ◽  
Algebraic Expressions ◽  
Free Region ◽  
Dimensional Parameters ◽  
Cusp Points ◽  
Singularity Locus

An important difficulty in the design of parallel manipulators is their reduced practical workspace, due mainly to the existence of a complex singularity locus within the workspace. The workspace is divided into singularity-free regions according to assembly modes and working modes, and the dimensioning of parallel manipulators aims at the maximization of those regions. It is a common practice to restrict the manipulator’s motion to a specific singularity-free region. However, a suitable motion planning can enlarge the operational workspace by means of transitions of working mode and/or assembly mode. In this paper, the authors present an analytical procedure for obtaining the loci of cusp points of a parallel manipulator as algebraic expressions of its dimensional parameters. The purpose is to find an optimal design for non-singular transitions to be possible.

Kinematic Synthesis of a Spatial 3-RPS Parallel Manipulator

2003 ◽  
Vol 125 (1) ◽  
pp. 92-97 ◽  
Author(s):  
Han Sung Kim ◽  
Lung-Wen Tsai
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Parallel Manipulators ◽  
Point Of View ◽  
Dimensional Synthesis ◽  
Kinematic Synthesis ◽  
End Effector ◽  
Solution Methods ◽  
Moving Platform ◽  
At Will

This paper presents the design of spatial 3-RPS parallel manipulators from dimensional synthesis point of view. Since a spatial 3-RPS manipulator has only 3 degrees of freedom, its end effector cannot be positioned arbitrarily in space. It is shown that at most six positions and orientations of the moving platform can be prescribed at will and, given six prescribed positions, there are at most ten RPS chains that can be used to construct up to 120 manipulators. Further, solution methods for fewer than six prescribed positions are also described.

A new family of spherical parallel manipulators

Robotica ◽  
2002 ◽  
Vol 20 (4) ◽  
pp. 353-358 ◽  
Author(s):  
Raffaele Di Gregorio
Keyword(s):  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
End Effector ◽  
Singular Configurations ◽  
New Family ◽  
Geometric Conditions ◽  
Singularity Locus ◽  
The Given ◽  
Spherical Parallel Manipulator ◽  
Spherical Motion

In the literature, 3-RRPRR architectures were proposed to obtain pure translation manipulators. Moreover, the geometric conditions, which 3-RRPRR architectures must match, in order to make the end-effector (platform) perform infinitesimal (elementary) spherical motion were enunciated. The ability to perform elementary spherical motion is a necessary but not sufficient condition to conclude that the platform is bound to accomplish finite spherical motion, i.e. that the mechanism is a spherical parallel manipulator (parallel wrist). This paper demonstrates that the 3-RRPRR architectures matching the geometric conditions for elementary spherical motion make the platform accomplish finite spherical motion, i.e. they are parallel wrists (3-RRPRR wrist), provided that some singular configurations, named translation singularities, are not reached. Moreover, it shows that 3-RRPRR wrists belong to a family of parallel wrists which share the same analytic expression of the constraints which the legs impose on the platform. Finally, the condition that identifies all the translation singularities of the mechanisms of this family is found and geometrically interpreted. The result of this analysis is that the translation singularity locus can be represented by a surface (singularity surface) in the configuration space of the mechanism. Singularity surfaces drawn by exploiting the given condition are useful tools in designing these wrists.

scholarly journals Inverse kinematic analysis of 3 DOF 3-PRS PM for machining on inclined prismatic surfaces

2020 ◽  
Vol 9 (2) ◽  
pp. 135
Author(s):  
Hishantkumar Rashmikantbhai Patel ◽  
Yashavant Patel
Keyword(s):  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Industrial Applications ◽  
Inverse Kinematic ◽  
Medical Surgery ◽  
Space Technology ◽  
Serial Manipulators ◽  
Part Surface ◽  
Primary Focus ◽  
Structural Architecture

<p>Parallel Manipulators (PMs) are family members of modern manipulators based on the closed loop structural architecture. 3-PRS (prismatic, revolute, spherical) manipulator with 3DOF is investigated for its machining capability on prismatic surfaces as it possesses greater structural stiffness, higher pay load caring capacity, more precision compare to serial manipulators as well as less accumulation of errors at joints within a constrained workspace. The said manipulator can be utilized in various fields of application such as precise manufacturing, medical surgery, space technology and many more. In this paper, the primary focus on usage of parallel manipulator in industrial applications such as drilling and grooving on inclined work part surface. Inverse kinematic solutions are used for drilling, square and round profiles on inclined surface using parallel manipulator.</p>

An Effective Approach to Model Parallel Robots With Flexible Links

2021 ◽  
Author(s):  
Brillarelli Stefano ◽  
Matteo-Claudio Palpacelli
Keyword(s):  
Software Architecture ◽  
Parallel Manipulator ◽  
Path Following ◽  
Parallel Manipulators ◽  
Parallel Robots ◽  
Flexible Links ◽  
Model Based Control ◽  
High Acceleration ◽  
Control Schemes ◽  
Pick And Place

Abstract This paper is focused on the development of an effective hardware and software architecture that is useful to improve the performance of slender parallel manipulators. The latter can perform high acceleration in fast pick and place applications, but their features can be also exploited in more advanced operations, where path following is a central issue. A simple and effective approach to model the elastodynamic behavior of flexible parallel manipulator is proposed, conceived to be fast and easy to implement in model-based control schemes. Moreover, a workbench architecture based on camera acquisitions is essential to calibrate the elastodynamic model and provide all the required information that are needed to improve path following of flexible mechanims.

On the kinematics of a new parallel mechanism with Schoenflies motion

Robotica ◽  
2015 ◽  
Vol 34 (9) ◽  
pp. 2056-2070 ◽  
Author(s):  
Po-Chih Lee ◽  
Jyh-Jone Lee
Keyword(s):  
Closed Form ◽  
Condition Number ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Matrix Algebra ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Pick And Place

SUMMARYThis paper investigates the kinematics of one new isoconstrained parallel manipulator with Schoenflies motion. This new manipulator has four degrees of freedom and two identical limbs, each having the topology of Cylindrical–Revolute–Prismatic–Helical (C–R–P–H). The kinematic equations are derived in closed-form using matrix algebra. The Jacobian matrix is then established and the singularities of the robot are investigated. The reachable workspaces and condition number of the manipulator are further studied. From the kinematic analysis, it can be shown that the manipulator is simple not only for its construction but also for its control. It is hoped that the results of the evaluation of the two-limb parallel mechanism can be useful for possible applications in industry where a pick-and-place motion is required.

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