Potential of the 3-UPU Translational Parallel Manipulator

2010 ◽  
Author(s):  
Ahmed Hachem Chebbi ◽  
Vincenzo Parenti-Castelli
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Joint Clearance ◽  
General Frame ◽  
Pure Rotation ◽  
Work Done ◽  
Relevant Work ◽  
Three Degrees Of Freedom

The 3-UPU three degrees of freedom fully parallel manipulator, where U and P are for universal and prismatic pair respectively, is a very well known manipulator that can provide the platform with three degrees of freedom of pure translation, pure rotation or mixed translation and rotation according to the relative directions of the revolute axes. Many studies have been reported in the literature on singularities, workspace and joint clearance influence on the platform accuracy of this manipulator. However, much work has still to be done to reveal all the features this topology can offer to the designer. This paper collects the previous most relevant work done on the 3-UPU parallel manipulator and shows the main results in a coherent general frame. The paper proposes new architectures of the 3-UPU manipulator which offer interesting features to the designer. Finally, based on a number of indexes, a procedure is proposed that allows the designer to select the best architecture of the 3-UPU manipulator for a given task.

Visual servoing framework using Gaussian process for an aerial parallel manipulator

2018 ◽  
Vol 233 (9) ◽  
pp. 3408-3425
Author(s):  
Sungwook Cho ◽  
David Hyunchul Shim
Keyword(s):  
Gaussian Process ◽  
Parallel Manipulator ◽  
Visual Servoing ◽  
Degrees Of Freedom ◽  
Flight Test ◽  
Control Input ◽  
Body Velocity ◽  
Aerial Vehicle ◽  
Three Degrees Of Freedom ◽  
Traditional Image

This paper proposes a Gaussian process based visual servoing framework for an aerial parallel manipulator. Our aerial parallel manipulator utilizes the on-board eye-in-hand vision sensor system attached on the end-effector of three-degrees-of-freedom parallel manipulator. There are three major advantages: small, light in weight, and linearity with respect to the host vehicle rather than the serial manipulator, but it has a critical drawback that its workspace is too small to perform the mission itself during the hovering. In order to overcome the limited workspace problem and perform the mission more actively, proposed visual servoing framework is proposed to generate relative body velocity commands of the host vehicle by using the interpolated and extrapolated feature path between the initial and desired features to fed into the underactuated aerial parallel manipulator. It can generate not only numerical stable but also feasible control input. Furthermore, it can overcome the weakness of the traditional image-based visual servoing such as singularities, uncertainties, and local minimums during calculating image Jacobian under the large disparity environment between the target and the unmanned aerial vehicle. As a result of the proposed contribution, we show that our contribution is reliable to perform the picking-and-replacement autonomously, and it shows that it can be applied in the large displacement environments throughout the flight test.

scholarly journals A robomech class parallel manipulator with three degrees of freedom

2020 ◽  
Vol 3 (7 (105)) ◽  
pp. 44-56
Author(s):  
Zhumadil Baigunchekov ◽  
Azamat Mustafa ◽  
Tarek Sobh ◽  
Sarosh Patel ◽  
Muratulla Utenov
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Three Degrees Of Freedom

A Measure for Evaluation of Maximum Acceleration of Redundant and Nonredundant Parallel Manipulators

2015 ◽  
Vol 8 (2) ◽  
Author(s):  
Jun Wu ◽  
Binbin Zhang ◽  
Liping Wang
Keyword(s):  
Dynamic Model ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Virtual Work ◽  
Parallel Manipulators ◽  
Maximum Acceleration ◽  
Virtual Work Principle ◽  
Joint Force ◽  
Joint Forces ◽  
Three Degrees Of Freedom

The paper deals with the evaluation of acceleration of redundant and nonredundant parallel manipulators. The dynamic model of three degrees-of-freedom (3DOF) parallel manipulator is derived by using the virtual work principle. Based on the dynamic model, a measure is proposed for the acceleration evaluation of the redundant parallel manipulator and its nonredundant counterpart. The measure is designed on the basis of the maximum acceleration of the mobile platform when one actuated joint force is unit and other actuated joint forces are less than or equal to a unit force. The measure for evaluation of acceleration can be used to evaluate the acceleration of both redundant parallel manipulators and nonredundant parallel manipulators. Furthermore, the acceleration of the 4-PSS-PU parallel manipulator and its nonredundant counterpart are compared.

A Calibration Method for a Three-Degrees-of-Freedom Parallel Manipulator with a Redundant Passive Chain

2012 ◽  
Vol 162 ◽  
pp. 171-178 ◽  
Author(s):  
Takaaki Oiwa ◽  
Harunaho Daido ◽  
Junichi Asama
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Least Squares Method ◽  
Coordinate Measuring Machine ◽  
Calibration Method ◽  
Displacement Sensor ◽  
Measurement Experiment ◽  
Measuring Machine ◽  
Measured Length ◽  
Three Degrees Of Freedom

This paper deals with parameter identification for a three-degrees-of-freedom (3-DOF) parallel manipulator, based on measurement redundancy. A redundant passive chain with a displacement sensor connects the moving stage to the machine frame. The passive chain is sequentially placed in three directions at approximately right angles to one another to reliably detect the motion of the stage. Linear encoders measure changes in lengths of the passive chain and the three actuated chains of the manipulator during traveling of the moving stage. Comparison between the measured length and the length calculated from forward kinematics of the 3-DOF manipulator reveals a length error of the passive chain. The least-squares method using a Jacobian matrix corrects 27 kinematic parameters so that the length errors of the passive chain are minimized. The above calculations were accomplished in both numerical simulations and experiments employing a coordinate measuring machine based on the parallel manipulator. Moreover, a length measurement simulation of gauge block measurement and a measurement experiment using the measuring machine were performed to verify the identified parameters.

Kinematic Analysis of a New 3-DOF Translational Parallel Manipulator

2005 ◽  
Author(s):  
Yangmin Li ◽  
Qingsong Xu
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Industrial Applications ◽  
Forward Kinematics ◽  
Physical Constraints ◽  
Mechanical Joints ◽  
Reachable Workspace ◽  
Three Degrees Of Freedom

A novel three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with orthogonally arranged fixed actuators is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analyses are performed and the singularities and isotropic configurations are investigated in details afterwards. Under different cases of physical constraints imposed by mechanical joints, the reachable workspace of the manipulator is geometrically generated and compared. Especially, it is illustrated that the manipulator in principle possesses a fairly regular like workspace with a maximum cuboid defined as the usable workspace inscribed and one isotropic configuration involved. Furthermore, the singularity within the usable workspace is verified, and simulation results show that there exist no any singular configurations within the specified workspace. Therefore, the presented new manipulator has a great potential for high precision industrial applications such as assembly, machining, etc.

scholarly journals Accuracy Of Positioning And Orientation Of Effector Of Planar Parallel Manipulator 3RRR

2015 ◽  
Vol 9 (3) ◽  
pp. 151-154
Author(s):  
Monika Prucnal-Wiesztort
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Planar System ◽  
Kinematic Chains ◽  
Numerical Example ◽  
Advantages And Disadvantages ◽  
Planar Parallel Manipulator ◽  
Singular Configuration ◽  
Three Degrees Of Freedom

Abstract Parallel manipulator belongs to group of mechanisms with closed kinematic chains. This feature involves both advantages and disadvantages. The study examined the issue of accuracy of a planar system with three degrees of freedom, with revolute pairs, showing the effect of errors of the drives settings on effector positioning deviation. Enclosed is a numerical example for which analyzed the deviation in motion manipulator when going through the singular configuration. Based on the analysis was determined the area around the singular positions for which to obtain the orientation of the assumed accuracy is impossible.

Multibody Analysis and Design of a Reconfigurable Parallel Kinematics Manipulator

2015 ◽  
Author(s):  
Matteo Palpacelli ◽  
Massimo Callegari ◽  
Luca Carbonari ◽  
Giacomo Palmieri
Keyword(s):  
Control Strategy ◽  
Degrees Of Freedom ◽  
Parallel Kinematics ◽  
Analysis And Design ◽  
Pure Rotation ◽  
Analytic Expressions ◽  
Robot Leg ◽  
Moving Platform ◽  
Actuation Systems ◽  
Three Degrees Of Freedom

This paper presents the design of a reconfigurable parallel kinematics machine endowed with three degrees of freedom of pure translation, or alternately of pure rotation. Such reconfigurability results from the use of lockable spherical joints, which realize the connection between each robot leg and the moving platform. Three actuated legs are used to drive the platform motion. The change of configuration occurs only at a specific pose, called home configuration. A control strategy allows to manage the shift phase and activate the two mobilities one at a time. Multibody simulations allowed to analyze the dynamic behavior of the manipulator and to verify the choices made with regard to the robot mechanics and the size of actuation systems. Position and differential kinematics of the manipulator are briefly introduced in order to demonstrate the simplicity of the analytic expressions and the mechanical feasibility of the manipulator.

On Singularities of Planar Parallel Manipulators

1993 ◽  
Author(s):  
H. R. Mohammadi Daniali ◽  
P. J. Zsombor-Murray ◽  
Jorge Angeles
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Classification Scheme ◽  
Parallel Manipulators ◽  
The Other ◽  
Jacobian Matrices ◽  
General Classification ◽  
Three Degrees Of Freedom ◽  
Planar Parallel Manipulators

Abstract The singularities of the Jacobian matrices of two manipulator with three degrees of freedom are analyzed. One is a planar 3-legged manipulator; the other, a planar double-triangular manipulator. A general classification of parallel-manipulator singularities into three groups is described. The classification scheme relies on the properties of the Jacobian matrices of the manipulator. Finally, the three types of singularity are identified for the two manipulators.

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