scholarly journals Kinematic Analysis and Trajectory Planning of the Orthoglide 5-Axis

2015 ◽  
Author(s):  
S. Caro ◽  
D. Chablat ◽  
P. Lemoine ◽  
P. Wenger
Keyword(s):  
Trajectory Planning ◽  
Kinematic Analysis ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Hybrid Architecture ◽  
Parallel Kinematic Machine ◽  
Control Loop ◽  
Parallel Kinematic

The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid architecture, namely, a three degrees of freedom translational parallel manipulator mounted in series with a two degrees of freedom parallel spherical wrist. The simpler the kinematic modeling of the Orthoglide 5-axis, the higher the maximum frequency of its control loop. Indeed, the control loop of a parallel kinematic machine should be computed with a high frequency, i.e., higher than 1.5 MHz, in order the manipulator to be able to reach high speed motions with a good accuracy. Accordingly, the direct and inverse kinematic models of the Orthoglide 5-axis, its inverse kinematic Jacobian matrix and the first derivative of the latter with respect to time are expressed in this paper. It appears that the kinematic model of the manipulator under study can be written in a quadratic form due to the hybrid architecture of the Orthoglide 5-axis. As illustrative examples, the profiles of the actuated joint angles (lengths), velocities and accelerations that are used in the control loop of the robot are traced for two test trajectories.

Design and Experimental Investigation of a New 2R1T Overconstrained Parallel Kinematic Machine With Actuation Redundancy

2019 ◽  
Vol 11 (3) ◽  
Author(s):  
Lingmin Xu ◽  
Xinxue Chai ◽  
Qinchuan Li ◽  
Liangan Zhang ◽  
Wei Ye
Keyword(s):  
Inverse Kinematics ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Curved Surfaces ◽  
Parallel Kinematic Machine ◽  
Actuation Redundancy ◽  
Dimensional Parameters ◽  
Force Transmissibility ◽  
Parallel Kinematic

Two rotations and one translation (2R1T) parallel kinematic machines (PKMs) are suitable for the machining of complex curved surfaces, which requires high speed and precision. To further improve rigidity, precision, and avoid singularity, actuation redundancy, and overconstrained PKMs with fixed actuators and limited-degrees of freedom (DOF) limbs are preferred. However, there are few 2R1T PKMs with these features. This paper introduces a new 2R1T overconstrained PKM with actuation redundancy, which is called Tex4. The Tex4 PKM consists of four limited-DOF limbs; that is, two PUR limbs and two 2PRU limbs (where P denotes an actuated prismatic joint, U denotes a universal joint, and R denotes a revolute joint). The kinematic model of the proposed 2PUR-2PRU machine is presented along with the results of mobility, inverse kinematics, and velocity analysis. By considering the motion/force transmissibility, the dimensional parameters of the Tex4 PKM were optimized to obtain an improved satisfactory transmission workspace without singular configurations. Finally, a prototype based on the optimized parameters was fabricated, and its feasibility and accuracy were validated by motion and position error experiments. The Tex4 PKM has the advantages of high rigidity, simple kinematic model, and zero singularity in the workspace, which suggests that it has potential for use in the high-speed machining of curved surfaces.

Geometric and Kinematic Modelling of a New Parallel Kinematic Machine Tool: The Tripteor X7 Designed by PCI

2010 ◽  
Vol 112 ◽  
pp. 159-169 ◽  
Author(s):  
Sylvain Pateloup ◽  
Helene Chanal ◽  
Emmanuel Duc
Keyword(s):  
Machine Tools ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Parallel Kinematic Machine ◽  
Joint Coordinates ◽  
Kinematic Behaviour ◽  
Kinematic Modelling ◽  
Kinematic Models ◽  
Automotive Part ◽  
Parallel Kinematic

Today, Parallel Kinematic Machine tools (PKMs) appear in automotive and aeronautic industry. These machines propose high kinematic performances allowing a higher productivity than Serial Kinematic Machine tools (SKMs). However, this kinematic behaviour is anisotropic and a particular study is then necessary to locate the part in a workspace where the kinematic performances are well exploited. The study presented in this article deals with the determination of geometric and kinematic models of a new PKM : the Tripteor X7 designed by PCI. The inverse kinematic model expresses the joint coordinates with regard to the cartesian coordinates. The kinematic model which takes into account velocity, acceleration and jerk limits axis, allows computing the displacement time between two tool positions. Finally, this model can be used to determine the workspace where Non Effective cutting Times (TNE) are minimum. The method is applied for an automotive part machining

On Performance Enhancement of Parallel Kinematic Machine

2005 ◽  
Author(s):  
Dan Zhang ◽  
Lihui Wang
Keyword(s):  
Remote Control ◽  
Degrees Of Freedom ◽  
Geometric Model ◽  
Kinematic Model ◽  
Parallel Kinematic Machine ◽  
Web Based ◽  
Remote Manipulation ◽  
Parallel Kinematic ◽  
Moving Platform ◽  
Three Degrees Of Freedom

This paper proposes a spatial three degrees of freedom parallel kinematic machine enhanced by a passive leg and a web-based remote control system. First, the geometric model of the three degrees of freedom parallel kinematic machine is addressed; in the mechanism, a fourth kinematic link — a passive link connecting the base center to the moving platform center — is introduced. This last link is used to constrain the motion of the tool (located in the moving platform) to only three degrees of freedom, as well as to enhance the global stiffness of the structure and distribute the torque from machining. With the kinematic model, a web-based remote control approach is then applied. The concept of the web-based remote manipulation approach is introduced and the principles behind the method are explored in detail. Finally, an example of remote manipulation is demonstrated to the proposed 3-DOF structure using web-based remote control concept before conclusions.

scholarly journals A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for Robotic Applications

Mathematics ◽  
2021 ◽  
Vol 9 (13) ◽  
pp. 1468
Author(s):  
Luis Nagua ◽  
Carlos Relaño ◽  
Concepción A. Monje ◽  
Carlos Balaguer
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Experimental Tests ◽  
Humanoid Robots ◽  
Inverse Kinematic ◽  
Element Analysis ◽  
New Approach ◽  
Flexible Polymer ◽  
The Mathematical Model

A soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM). To study its performance in more detail, a test platform has been developed using components that can be manufactured in a 3D printer using a flexible polymer. The mathematical model of the kinematics of the soft joint is developed, which includes a blocking mechanism and the morphology workspace. The model is validated using Finite Element Analysis (FEA) (CAD software). Experimental tests are performed to validate the inverse kinematic model and to show the potential use of the prototype in robotic platforms such as manipulators and humanoid robots.

Complete kinematic calibration of a 6-RRRPRR parallel kinematic machine based on the optimal measurement configurations

2019 ◽  
Vol 234 (1) ◽  
pp. 121-136 ◽  
Author(s):  
Chunyang Han ◽  
Yang Yu ◽  
Zhenbang Xu ◽  
Xiaoming Wang ◽  
Peng Yu ◽  
...  
Keyword(s):  
Kinematic Model ◽  
Inverse Kinematic ◽  
Error Model ◽  
Kinematic Calibration ◽  
Universal Joint ◽  
Parallel Kinematic Mechanism ◽  
Simulation And Experiment ◽  
Parallel Kinematic ◽  
Kinematic Mechanism ◽  
Selection Of

This paper presents a kinematic calibration of a 6-RRRPRR parallel kinematic mechanism with offset RR-joints that would be applied in space positioning field. In order to ensure highly accurate and highly effective calibration process, the complete error model, which contains offset universal joint errors, is established by differentiating inverse kinematic model. A calibration simulation comparison with non-complete error model shows that offset universal joint errors are crucial to improve the calibration accuracy. Using the error model, an optimal calibration configuration selection algorithm is developed to determine the least number of measurement configurations as well as the optimal selection of these configurations from the feasible configuration set. To verify the effectiveness of kinematic calibration, a simulation and experiment were performed. The results show that the developed approach can effectively improve accuracy of a parallel kinematic mechanism with relatively low number of calibration configurations.

Kinematics Optimization of a 3-SPS Parallel Redundant Motion Mechanism Using Conformal Geometric Algebra

2015 ◽  
Vol 789-790 ◽  
pp. 889-895
Author(s):  
Jahng Hyon Park ◽  
Jeseok Kim ◽  
Jin Han Jeong
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Optimization Technique ◽  
Optimal Solution ◽  
Inverse Kinematic ◽  
Fast Reaction ◽  
Inverse Kinematic Problem ◽  
Time Optimal ◽  
Parallel Link ◽  
Spherical Parallel Manipulator

In this paper, an actuation mechanism for high-speed aiming of a target is proposed. The mechanism is a 3DOF-SPS (spherical-prismatic-spherical) parallel manipulator and can be used for a missile defense system with a fast reaction time. This type of parallel mechanism has high rigidity against external disturbances and accordingly high stiffness and precision. The target aiming requires 2 degrees of freedom and this 3 DOF mechanism has one redundancy. For fast manipulation of the proposed mechanism, the redundancy can be exploited and an optimal solution can be found out of the infinite number of inverse kinematic solutions. For finding a near time-optimal solution, a cost function is formulated considering displacement of each parallel link and an optimization technique is used for solution of the inverse kinematic problem.

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