Position Analysis for a Class of Novel 3-DOF Translational Parallel Robot Mechanisms

2001 ◽  
Author(s):  
Qiong Jin ◽  
Ting-Li Yang
Keyword(s):  
Path Planning ◽  
Inverse Kinematics ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Position Analysis ◽  
Dimensional Parameters ◽  
Forward And Inverse Kinematics ◽  
Topological Characteristics ◽  
Kinematic Joint

Abstract A class of new 3-DOF parallel robot mechanisms is investigated. Closed-formed solutions are developed for both the forward and inverse kinematics. Compared with known 3-DOF parallel robot mechanisms, these mechanisms are not only simple in structure with fewer solutions for position analyses but also decoupled. The mechanism decouplity, which is related to the topological characteristics, dimensional parameters, kinematic joint types and the choice of input-joints, is very useful for real control and path planning of parallel robots.

scholarly journals Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Robotics ◽  
2018 ◽  
Vol 7 (3) ◽  
pp. 48 ◽  
Author(s):  
Ruiqin Li ◽  
Hongwei Meng ◽  
Shaoping Bai ◽  
Yinyin Yao ◽  
Jianwei Zhang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Step Length ◽  
Parallel Robot ◽  
Search Method ◽  
Walking Robot ◽  
Gait Control ◽  
Gait Planning ◽  
Forward And Inverse Kinematics ◽  
Passing Ability

The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains.

DELTA: a simple and efficient parallel robot

Robotica ◽  
1990 ◽  
Vol 8 (2) ◽  
pp. 105-109 ◽  
Author(s):  
F. Pierrot ◽  
C. Reynaud ◽  
A. Fournier
Keyword(s):  
Inverse Kinematics ◽  
Research Team ◽  
Dynamic Models ◽  
Inverse Dynamics ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Kinematic Parameters ◽  
Mechanical Structure ◽  
Serial Robots ◽  
École Polytechnique

SummaryThe DELTA parallel robot, designed by an EPFL (Ecole Polytechnique Fédérale de Lausanne) research team, is a mechanical structure which has the advantage of parallel robots and ease of serial robots modeling. This paper presents solutions for a complete modeling of the DELTA parallel robot (direct and inverse kinematics, inverse statics, inverse dynamics), with few arithmetic and trigonometric operations. Our method is based on a satisfactory choice of kinematic parameters and on a few restricting hypotheses for the static and dynamic models. We give some details of each model, we present some computation results and we put the emphasis on some particular points, showing the capabilities of this mechanical structure.

Types Synthesis of Redundant Actuation Parallel Robot

2011 ◽  
Vol 219-220 ◽  
pp. 953-956
Author(s):  
Jin Liang Gong ◽  
Yan Fei Zhang ◽  
Xiu Ting Wei
Keyword(s):  
Parallel Manipulators ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Redundant Actuation ◽  
View Point ◽  
Output Link ◽  
Practical Applications ◽  
Plücker Coordinates ◽  
Theoretical View ◽  
Kinematic Joint

Redundant parallel robots have been under increasing developments from a theoretical view point as well as for practical applications. Compared with the traditional parallel manipulators, they have such merits of more load, faster speed and higher accuracy. The method about how to build up redundant actuation parallel robot is introduced. Considering that the kinematic joint and limb are basic elements to constitute a proper parallel robot mechanism, special Plücker coordinates is adopted to describe the displacements of the output link of a limb or the robot mechanism. Then the principle for design of the redundant actuation parallel robot mechanisms is presented and example of the 2RRR&2PP parallel robot mechanism is brought forth and analyzed by this method.

Path Planning in the Case of PKM with Hybrid Topology

2006 ◽  
Vol 113 ◽  
pp. 291-295
Author(s):  
Cornel Brisan ◽  
Manfred Hiller
Keyword(s):  
Path Planning ◽  
Dynamic Behavior ◽  
Machine Tools ◽  
Inverse Kinematics ◽  
Small Dimension ◽  
Parallel Robots ◽  
Work Space ◽  
Hybrid Topology ◽  
Major Disadvantage ◽  
Small Work

Parallel robots have often been used during the last decade because of their advantages, such as: good dynamic behavior, easiness of inverse kinematics, and higher accuracy etc. Despite those advantages, parallel robots are criticized in relation to their small work space, and not really modular topology and complex mechanical architecture. Industrial experience has realized that the major disadvantage of parallel robots is the small dimension of work space. Strong economical reasons and all technical advantages of parallel robots recommend these robots to do tasks that are proper to machine tools.

The kinematics and statics of manipulators

2009 ◽  
Vol 223 (9) ◽  
pp. 2155-2166 ◽  
Author(s):  
J-S Zhao ◽  
W Lu ◽  
F Chu ◽  
Z-J Feng
Keyword(s):  
Path Planning ◽  
Inverse Kinematics ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Static Balance ◽  
Kinematics Analysis ◽  
Virtual Power ◽  
End Effector ◽  
Forward And Inverse Kinematics ◽  
Inverse Velocity

As the kinematics and statics play a very important role in determining the actuating inputs and the effective loads that the end-effector sustains, this article focuses on this issue and proposes an analytical process to study the forward and inverse kinematics and statics of spatial manipulators. As series manipulators and parallel manipulators show different features in kinematics and statics, this article discusses them separately. First, the forward and inverse velocity problems of the manipulator linkages are investigated with reciprocal screw theory. Then, the static balance conditions together with forward and inverse statics of the manipulator linkages are established through virtual power theory. In the kinematics analysis, the primary conditions for feasible motions of an end-effector are addressed through velocity screws. Illustrative examples indicate that the method proposed in this article can be used to guide the singularity identification, path planning, and feasible motion determination.

A Fixed-Actuator Configuration for 3-Leg 6-DOF Robots

2017 ◽  
Author(s):  
Carl A. Nelson
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Actuated Joints

For many fully parallel robots, the number of legs is generally equal to the number of degrees of freedom, with one actuated joint per leg. However, another subset of robots exists in which there are fewer legs and more actuated joints per leg. This paper presents a method of mounting rotary actuators on the fixed platform such that no actuator mass is added to the moving links. Examples of 6-DOF parallel robot variants are given based on this technique, with inverse kinematics, and the scope of extensibility to other topologies is briefly described.

Modelling and Simulation of Inverse Kinematics for Planar 3-RRR Parallel Robot Based on SimMechanics

2014 ◽  
Vol 898 ◽  
pp. 510-513 ◽  
Author(s):  
Jin Ran Gao ◽  
Yong Zhao Wang ◽  
Zuo Peng Chen
Keyword(s):  
Inverse Kinematics ◽  
Manufacturing Industry ◽  
Physical Simulation ◽  
Theoretical Foundation ◽  
Controller Design ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Parallel Mechanisms ◽  
End Effector ◽  
Kinematics Simulation

Parallel robots are widely used in the manufacturing industry. In this paper, a planar 3-RRR parallel robot is studied. The inverse kinematics mathematical model is established for this kind of mechanism. Furthermore, a physical simulation model is established by virtue of MATLAB/SimMechanics and a relevant inverse kinematics simulation is implemented at the assumption of known conditions of the end-effector of robot. Through inverse kinematics simulation, the motion rules of driving parts of the planar 3-RRR parallel robot are obtained, and visualization of simulation process is realized in the system. The simulation results show that this method is much more effective and convenient when a certain simulation is implemented for the parallel mechanisms. Meanwhile, it provides a theoretical foundation and a better analytical approach of simulation for the controller design and further analysis of complex multi-linkage mechanisms in the future.

scholarly journals Collision-free path planning for welding manipulator via hybrid algorithm of deep reinforcement learning and inverse kinematics

2021 ◽  
Author(s):  
Jie Zhong ◽  
Tao Wang ◽  
Lianglun Cheng
Keyword(s):  
Reinforcement Learning ◽  
Path Planning ◽  
Free Path ◽  
Inverse Kinematics ◽  
Multiple Dimensions ◽  
Continuous State ◽  
Planning Algorithm ◽  
Convergence Performance ◽  
Path Planner ◽  
Action Spaces

AbstractIn actual welding scenarios, an effective path planner is needed to find a collision-free path in the configuration space for the welding manipulator with obstacles around. However, as a state-of-the-art method, the sampling-based planner only satisfies the probability completeness and its computational complexity is sensitive with state dimension. In this paper, we propose a path planner for welding manipulators based on deep reinforcement learning for solving path planning problems in high-dimensional continuous state and action spaces. Compared with the sampling-based method, it is more robust and is less sensitive with state dimension. In detail, to improve the learning efficiency, we introduce the inverse kinematics module to provide prior knowledge while a gain module is also designed to avoid the local optimal policy, we integrate them into the training algorithm. To evaluate our proposed planning algorithm in multiple dimensions, we conducted multiple sets of path planning experiments for welding manipulators. The results show that our method not only improves the convergence performance but also is superior in terms of optimality and robustness of planning compared with most other planning algorithms.

A Hybrid Self-Stressed Cable-Driven Mechanism

2008 ◽  
Author(s):  
Saeed Behzadipour
Keyword(s):  
Static Loading ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Tensile Force ◽  
Cable System ◽  
End Effector ◽  
Stiffness Analysis ◽  
Cable Length ◽  
Cable Drive ◽  
Forward And Inverse Kinematics

A new hybrid cable-driven manipulator is introduced. The manipulator is composed of a Cartesian mechanism to provide three translational degrees of freedom and a cable system to drive the mechanism. The end-effector is driven by three rotational motors through the cables. The cable drive system in this mechanism is self-stressed meaning that the pre-tension of the cables which keep them taut is provided internally. In other words, no redundant actuator or external force is required to maintain the tensile force in the cables. This simplifies the operation of the mechanism by reducing the number of actuators and also avoids their continuous static loading. It also eliminates the redundant work of the actuators which is usually present in cable-driven mechanisms. Forward and inverse kinematics problems are solved and shown to have explicit solutions. Static and stiffness analysis are also performed. The effects of the cable’s compliance on the stiffness of the mechanism is modeled and presented by a characteristic cable length. The characteristic cable length is calculated and analyzed in representative locations of the workspace.

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