Design and Analysis of a Novel Reconfigurable Parallel Manipulator with Kirigami-inspired Bennett Plano-Spherical Linkages and Angular Pouch Motors

2021 ◽  
pp. 1-23
Author(s):  
Ketao Zhang ◽  
Chen Liu
Keyword(s):  
Parallel Manipulator ◽  
Closed Loop ◽  
Screw Theory ◽  
Geometric Approach ◽  
Reconfigurable Mechanisms ◽  
Serial Chain ◽  
Bending Actuator ◽  
Creative Art ◽  
Spherical Linkages ◽  
Motion Characteristics

Abstract Drawing inspiration from kirigami, a creative art of papercutting, this paper first present a simple crease pattern of a kirigami model. In terms of artimimetics which bridges the origami/kirigami art and mechanisms, the kinematic equivalent, an overconstrained 6R linkage, is extracted from the kirigami model. In terms of screw theory, constraint singularity induced transitory position and distinct closed-loop motion branches of the 6R linkage is revealed. Using the Bennett plano-spherical linkage as a closed-loop subchain of kinematic limbs, this paper then introduce a new reconfigurable parallel manipulator with three hybrid kinematic limbs. Each limb of the manipulator consists of a Bennett plano-spherical linkage and a R(RR) serial chain. Using a geometric approach, the constraints exerted on the platform by the hybrid limb are explored by analysing the motion-screw systems of the equivalent serial kinematic limb corresponding to each motion branch of the closed-loop subchain. Motion characteristics in each motion branch of the parallel manipulator are revealed. Inspired by origami-folding and inflatable actuators for soft robotics, this paper further presents a new design of inflatable bending actuator for changing motion branches of reconfigurable mechanisms. The conceptual design of the actuator is verified with a prototype fabricated using adhesive fabric and further application in reconfiguring a 3D printed foldable Bennett plano-spherical linkage.

Structure Analysis of UPC Type 3-DoF Rotational Spatial Compliant Parallel Manipulator

2010 ◽  
Vol 44-47 ◽  
pp. 1370-1374 ◽  
Author(s):  
Da Chang Zhu ◽  
Yu Hang Chen ◽  
Li Meng
Keyword(s):  
Structure Analysis ◽  
Parallel Manipulator ◽  
Screw Theory ◽  
Translational Motion ◽  
Scanning Tunneling ◽  
Nanometer Size ◽  
Ultra Precision ◽  
Motion Characteristics ◽  
Cartesian Coordinate ◽  
Type 3

Nanomanipulation could be defined as the manipulation of nanometer size objects using a nanometer size end effector with ultra precision, which was enabled by the invention of Scanning Tunneling Microscopes (STM). However, most of the existing micromanipulators provide only planar 3-DoF or spatial 3-DoF translational motion characteristics. In this paper, a 3-DoF UPC type rotational spatial compliant parallel manipulator is presented. In order to develop the structure stiffness of this kind of spatial compliant parallel manipulator, structure analysis of this mechanism is proposed. A simple but useful method which based on screw theory and geometric constraint conditions is also proposed. The compliant parallel manipulator is driven by three piezoelectric actuators and the three actuators in this mechanism are arranged according to the Cartesian coordinate system. The results of experiments via ANSYS have shown the validation of the theoretical analysis.

Motion/Force Transmission Analysis of Planar Parallel Mechanisms With Closed-Loop Subchains

2016 ◽  
Vol 8 (4) ◽  
Author(s):  
Kristan Marlow ◽  
Mats Isaksson ◽  
Saeid Nahavandi
Keyword(s):  
High Performance ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Screw Theory ◽  
Parallel Mechanisms ◽  
Force Transmission ◽  
Transmission Performance ◽  
Specific Mechanism ◽  
Serial Chain ◽  
Four Bar Linkage

Singularities are one of the most important issues affecting the performance of parallel mechanisms. Therefore, analysis of their locations and closeness is essential for the development of a high-performance mechanism. The screw theory based motion/force transmission analysis provides such a closeness measure in terms of the work performed between specific mechanism twists and wrenches. As such, this technique has been applied to many serial chain parallel mechanisms. However, the motion/force transmission performance of parallel mechanisms with mixed topology chains is yet to be examined. These chains include linkages in both series and parallel, where the parallel portion is termed a closed-loop subchain (CLSC). This paper provides an analysis of such chains, where the CLSC is a planar four-bar linkage. In order to completely define the motion/force transmission abilities of these mechanisms, adapted wrench definitions are introduced. The proposed methodology is applied to a family of two degrees-of-freedom planar axis-symmetric parallel mechanisms, each with a different CLSC configuration. The presented analysis provides the first complete motion/force transmission analysis of such mechanisms.

Kinematics and workspace analysis of a novel 3-DOF parallel manipulator with virtual symmetric plane

2012 ◽  
Vol 227 (3) ◽  
pp. 620-629 ◽  
Author(s):  
Hairong Fang ◽  
Yuefa Fang ◽  
Ketao Zhang
Keyword(s):  
Parallel Manipulator ◽  
Closed Loop ◽  
Geometric Approach ◽  
Forward Kinematics ◽  
Configuration Design ◽  
Reachable Workspace ◽  
Revolute Joints ◽  
Workspace Analysis ◽  
Symmetric Plane ◽  
The Common

This article presents a novel 3-DOF parallel manipulator extracted from an origami fold in the context of mechanisms. The parallel manipulator consists of a base, a platform and four chain-legs that connect the platform to base through revolute joints. Each chain-leg contains a closed-loop sub-chain, which is spherical 6R linkage with symmetrical angle lengths. The geometry of the parallel manipulator is revealed according to the configuration design and specifics of the origami fold. This leads to unravelling of the symmetric plane which is determined by the common points of spherical 6R linkages in the four chain-legs. Based on geometric approach, the solutions for both inverse and forward kinematics are derived and the reachable workspace is then analyzed.

Structure synthesis of reconfigurable parallel mechanisms with closed-loop metamorphic linkages

2017 ◽  
Vol 232 (7) ◽  
pp. 1303-1316 ◽  
Author(s):  
Chunxu Tian ◽  
Yuefa Fang ◽  
Sheng Guo ◽  
Haibo Qu
Keyword(s):  
Closed Loop ◽  
Screw Theory ◽  
Parallel Mechanisms ◽  
Constraint Forces ◽  
Kinematic Chains ◽  
Reconfigurable Mechanisms ◽  
Motion Modes ◽  
Structure Synthesis ◽  
Fixed Base ◽  
Moving Platform

This paper proposes a class of closed-loop metamorphic linkages, which has different phases resulting from links annexing or locking of motors. Reconfigurable limbs are obtained by assembling these metamorphic linkages with kinematic chains. The potential metamorphic linkages are presented and the working phase transformation of the metamorphic linkages is analyzed. After adding suitable kinematic joints to the metamorphic linkage, the reconfigurable limbs whose constraint can be switched among different constraint forces and couples are synthesized. The serial limbs that can provide u ( u = 0, 1, 2) constraint forces and v ( v = 0, 1, 2) constraint couples are constructed by using screw theory method. The reconfigurable limbs which possess different configurations are combined with serial kinematic chains. By connecting the end moving platform to the fixed base with three identical kinematic limbs, a family of reconfigurable mechanisms with closed-loop metamorphic linkages is derived. These mechanisms have various output motion modes, such as 3R, 1T2R, 2T1R, and 3T.

Classification of Origami-Enabled Foldable Linkages and Emerging Applications

2013 ◽  
Author(s):  
Ketao Zhang ◽  
Jian S. Dai
Keyword(s):  
Motion Analysis ◽  
Closed Loop ◽  
Screw Theory ◽  
Deployable Structures ◽  
Geometrical Characteristics ◽  
Revolute Joints ◽  
Motion Characteristics ◽  
Advanced Robotics ◽  
General Configuration

In the context of mechanisms, origami folds can be represented as equivalent mechanisms by taking creases as revolute joints and panels as links. This paper systematically presents various foldable closed-loop linkages extracted from origami folds and origami tessellations. The geometrical characteristics of typical origami crease patterns and patterned assemblies as well as the corresponding equivalent closed-loop linkage are investigated. The basic closed-loop linkages and complicated assemblies are classified according to their mobility in general configuration and the motion characteristics of these origami-enabled linkages are analyzed in terms of screw theory. Based on the geometry and motion analysis, possible simplified mechanisms of each complicated assembly are derived. The existing applications of the origami-inspired foldable closed-loop linkages in packaging and deployable structures, and emergence of new practical use in advanced robotics are addressed.

Performance evaluation of a special 6-PUS type parallel manipulator

Robotica ◽  
2021 ◽  
pp. 1-15
Author(s):  
Xiaochu Liu ◽  
Yunfei Cai ◽  
Weitian Liu ◽  
Linlong Zhang ◽  
Chengxin Hu
Keyword(s):  
Performance Evaluation ◽  
Natural Frequency ◽  
Parallel Manipulator ◽  
Screw Theory ◽  
Shaking Table ◽  
Axial Stiffness ◽  
Neutral Position ◽  
Dynamics Model ◽  
Force Transmissibility ◽  
Kane Method

Abstract In this paper, a special 6-PUS parallel manipulator (PM) is utilized as a shaking table. Unlike the existing results about 6-PUS PMs, we make the actuator direction collinear with the linkage direction at neutral position. With respect to the application background, a further analysis of the special PM is carried out from the perspective of motion/force transmissibility, natural frequency and acceleration capability. Specially, the complete dynamics model is established based on the Kane method. Then, generalized transmission indices based on the screw theory are utilized to reflect its motion ability, and a model of natural frequency is proposed with the axial stiffness of linkages considered. Finally, the effect of the angle between the actuator direction and the linkage direction α on various performances is analyzed, and other results are included to illustrate its feasibility and usability.

scholarly journals A New Method for Type Synthesis of 2R1T and 2T1R 3-DOF Redundant Actuated Parallel Mechanisms with Closed Loop Units

2020 ◽  
Vol 33 (1) ◽  
Author(s):  
Yongquan Li ◽  
Yang Zhang ◽  
Lijie Zhang
Keyword(s):  
Closed Loop ◽  
Screw Theory ◽  
Line Graph ◽  
Degree Of Freedom ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Allocation Criteria ◽  
Grassmann Line Geometry ◽  
Moving Platform ◽  
Atlas Method

Abstract The current type synthesis of the redundant actuated parallel mechanisms is adding active-actuated kinematic branches on the basis of the traditional parallel mechanisms, or using screw theory to perform multiple getting intersection and union to complete type synthesis. The number of redundant parallel mechanisms obtained by these two methods is limited. In this paper, based on Grassmann line geometry and Atlas method, a novel and effective method for type synthesis of redundant actuated parallel mechanisms (PMs) with closed-loop units is proposed. Firstly, the degree of freedom (DOF) and constraint line graph of the moving platform are determined successively, and redundant lines are added in constraint line graph to obtain the redundant constraint line graph and their equivalent line graph, and a branch constraint allocation scheme is formulated based on the allocation criteria. Secondly, a scheme is selected and redundant lines are added in the branch chains DOF graph to construct the redundant actuated branch chains with closed-loop units. Finally, the branch chains that meet the requirements of branch chains configuration criteria and F&C (degree of freedom & constraint) line graph are assembled. In this paper, two types of 2 rotational and 1 translational (2R1T) redundant actuated parallel mechanisms and one type of 2 translational and 1 rotational (2T1R) redundant actuated parallel mechanisms with few branches and closed-loop units were taken as examples, and 238, 92 and 15 new configurations were synthesized. All the mechanisms contain closed-loop units, and the mechanisms and the actuators both have good symmetry. Therefore, all the mechanisms have excellent comprehensive performance, in which the two rotational DOFs of the moving platform of 2R1T redundant actuated parallel mechanism can be independently controlled. The instantaneous analysis shows that all mechanisms are not instantaneous, which proves the feasibility and practicability of the method.

Integrated Kinematic Calibration for All the Parameters of a Planar 2DOF Redundantly Actuated Parallel Manipulator

2009 ◽  
Vol 1 (3) ◽  
Author(s):  
Chunshi Feng ◽  
Shuang Cong ◽  
Weiwei Shang
Keyword(s):  
Parallel Manipulator ◽  
Closed Loop ◽  
Open Loop ◽  
Kinematic Calibration ◽  
Constraint Equations ◽  
Integrated Method ◽  
Uniqueness Of The Solution ◽  
Redundantly Actuated ◽  
Loop Constraint ◽  
Two Degree Of Freedom

In this paper, the kinematic calibration of a planar two-degree-of-freedom redundantly actuated parallel manipulator is studied without any assumption on parameters. A cost function based on closed-loop constraint equations is first formulated. Using plane geometry theory, we analyze the pose transformations that bring infinite solutions and present a kinematic calibration integrated of closed-loop and open-loop methods. In the integrated method, the closed-loop calibration solves all the solutions that fit the constraint equations, and the open-loop calibration guarantees the uniqueness of the solution. In the experiments, differential evolution is applied to compute the solution set, for its advantages in computing multi-optima. Experimental results show that all the parameters involved are calibrated with high accuracy.

Structure Synthesis of 3-RRS Type Spatial Compliant Parallel Manipulator

2010 ◽  
Vol 44-47 ◽  
pp. 1375-1379
Author(s):  
Da Chang Zhu ◽  
Li Meng ◽  
Tao Jiang
Keyword(s):  
Parallel Manipulator ◽  
Compliant Mechanisms ◽  
Screw Theory ◽  
Weight Ratio ◽  
Parallel Manipulators ◽  
Robot System ◽  
New Approach ◽  
Structure Synthesis ◽  
Rigid Joints ◽  
Type 3

Parallel manipulators has been extensively studied by virtues or its high force-to-weight ratio and widely spread applications such as vehicle or flight simulator, a machine tool and the end effector of robot system. However, as each limb includes several rigid joints, assembling error is demanded strictly, especially in precision measurement and micro-electronics. On the other hand, compliant mechanisms take advantage of recoverable deformation to transfer or transform motion, force, or energy and the benefits of compliant mechanisms mainly come from the elimination of traditional rigid joints, but the traditional displacement method reduce the stiffness of spatial compliant parallel manipulators. In this paper, a new approach of structure synthesis of 3-DoF rotational compliant parallel manipulators is proposed. Based on screw theory, the structures of RRS type 3-DoF rotational spatial compliant parallel manipulator are developed. Experiments via ANSYS are conducted to give some validation of the theoretical analysis.

Kinematic Geometry of Wheeled Vehicle Systems

1996 ◽  
Author(s):  
S. V. Sreenivasan ◽  
P. Nanua
Keyword(s):  
Geometric Approach ◽  
Companion Paper ◽  
Kinematic Chains ◽  
Uneven Terrain ◽  
Geometric Conditions ◽  
Kinematic Study ◽  
Vehicle Systems ◽  
Motion Characteristics ◽  
The One ◽  
Wheeled Vehicles

Abstract This paper addresses instantaneous motion characteristics of wheeled vehicles systems on even and uneven terrain. A thorough kinematic geometric approach which utilizes screw system theory is used to investigate vehicle-terrain combinations as spatial mechanisms that possess multiple closed kinematic chains. It is shown that if the vehicle-terrain combination satisfies certain geometric conditions, for instance when the vehicle operates on even terrain, the system becomes singular or non-Kutzbachian — it possesses finite range mobility that is different from the one obtained using Kutzbach criterion. An application of this geometric approach to the study of rate kinematics of various classes of wheeled vehicles is also included. This approach provides an integrated framework to study the kinematic effects of varying the vehicle and/or terrain geometric parameters from their nominal values. In addition, design enhancements of existing vehicles are suggested using this approach. This kinematic study is closely related to the force distribution characteristics of wheeled vehicles which is the subject of the companion paper [SN96].

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