The QuadroG Robot, a Parallel Robot With a Configurable Platform for Haptic Applications

2015 ◽  
Author(s):  
Salua Hamaza ◽  
Patrice Lambert ◽  
Marco Carricato ◽  
Just Herder
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Parallel Robot ◽  
Parallel Robots ◽  
End Effector ◽  
Contact Points ◽  
Loop Chain ◽  
End Effectors ◽  
4 Degrees Of Freedom

This paper explores the fundamentals of parallel robots with configurable platforms (PRCP), as well as the design and the kinematic analysis of those. The concept behind PRCP is that the rigid (non-configurable) end-effector is replaced by a closed-loop chain, the configurable platform. The use of a closed-loop chain allows the robot to interact with the environment from multiple contact points on the platform, which reflects the presence of multiple end-effectors. This results in a robot that successfully combines motion and grasping capabilities into a structure that provides an inherent high stiffness. This paper aims to introduce the QuadroG robot, a 4 degrees of freedom PRCP which finely merges planar motion together with grasping capabilities.

Kinematic Analysis of a Five-Legged Mobile Robot

2010 ◽  
Author(s):  
Muhammed R. Pac ◽  
Dan O. Popa
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Parallel Robots ◽  
The Body ◽  
Legged Robots ◽  
Upper Body ◽  
Design Changes ◽  
Robot Performance ◽  
The Impact

Legged robots are more maneuverable, and can negotiate rough terrain much better than conventional locomotion using wheels. However, since the kinematic or dynamic analysis of such robots involves closed chains, it is typically more difficult to investigate the impact of design changes, such as the number, or the design of its legs, to robot performance. Most legged robots consist of 4 legs (quadrupeds) or 6 legs (hexapods). This paper discusses the kinematic analysis of an unconventional, symmetrical 5-legged robot with 2-DOF (Degrees Of Freedom) universal joints in each leg. The analysis was carried out in order to predict the mobility of the upper body platform, and investigate the number of robot actuators needed for mobility. The product of exponentials formulation with respect to the local coordinate frames is used to describe the twists of the joints. The analysis is based on the idea that the robot body platform along with the legs can be considered instantaneously as a parallel robot manipulating the ground. Hence, the analysis can be done using the Jacobian formulation of parallel robots. Simulation results confirm the mobility analysis that the robot can have at most 3-DOF for the body and that these freedoms are coupled rotations and translations in 3D space also with a dependence on the configuration of the robot.

DeltaBot: A New Cable-Based Ultra High Speed Robot

2003 ◽  
Author(s):  
Saeed Behzadipour ◽  
Robert Dekker ◽  
Amir Khajepour ◽  
Edmon Chan
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Manufacturing Industry ◽  
Design Procedure ◽  
Parallel Manipulators ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Manufacturing Cost ◽  
End Effector ◽  
Serial Manipulators

The growing needs for high speed positioning devices in the automated manufacturing industry have been challenged by robotic science for more than two decades. Parallel manipulators have been widely used for this purpose due to their advantage of lower moving inertia over the conventional serial manipulators. Cable actuated parallel robots were introduced in 1980’s to reduce the moving inertia even further. In this work, a new cable-based parallel robot is introduced. For this robot, the cables are used not only to actuate the end-effector but also to apply the necessary kinematic constraints to provide three pure translational degrees of freedom. In order to maintain tension in the cables, a passive air cylinder is used to push the end-effector against the stationary platform. In addition to low moving inertia, the new design benefits from simplicity and low manufacturing cost by eliminating joints from the robot’s mechanism. The design procedure and the results of experiments will be discussed in the following.

Six degrees of freedom parallel robots with C5 links

Robotica ◽  
1992 ◽  
Vol 10 (1) ◽  
pp. 35-44 ◽  
Author(s):  
Y. Amirat ◽  
F. Artigue ◽  
J. Pontnau
Keyword(s):  
Automotive Industry ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Parallel Architecture ◽  
Parallel Robot ◽  
Parallel Architectures ◽  
Parallel Robots ◽  
Left Hand ◽  
Six Degrees Of Freedom ◽  
Assembly Tasks

SummaryThis paper presents at first a static and kinematic analysis of closed chains mechanisms which permits to deduce different possible fully parallel architectures. Then we focus on a particular parallel architecture with C5 links designed to perform precise assembly tasks. A general modeling of this C5 parallel robot is presented. Two typical assembly tasks in the automotive industry are also proposed; the first one uses the C5 links parallel robot as a left-hand device, while the second one uses it as the terminal tool of a sequential manipulator.

A Parallelogram-Based Parallel Manipulator for Schönflies Motion

2006 ◽  
Vol 129 (12) ◽  
pp. 1243-1250 ◽  
Author(s):  
Oscar Salgado ◽  
Oscar Altuzarra ◽  
Enrique Amezua ◽  
Alfonso Hernández
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Kinematic Chain ◽  
Singularity Analysis ◽  
End Effector ◽  
Fixed Direction ◽  
Axis Parallel ◽  
Schönflies Motion ◽  
4 Degrees Of Freedom

A parallelogram-based 4 degrees-of-freedom parallel manipulator is presented in this paper. The manipulator can generate the so-called Schönflies motion that allows the end effector to translate in all directions and rotate around an axis parallel to a fixed direction. The theory of group of displacements is applied in the synthesis of this manipulator, which employs parallelograms in every limb. The planar parallelogram kinematic chain provides a high rotational capability and an improved stiffness to the manipulator. This paper shows the kinematic analysis of the manipulator, including the closed-form resolution of the forward and inverse position problems, the velocity, and the singularity analysis. Finally, a prototype of the manipulator, adding some considerations about its singularity-free design, and some technical applications in which the manipulator can be used are presented.

scholarly journals Modal Control for Active Vibration Damping of Cable-Driven Parallel Robots

2020 ◽  
Vol 12 (5) ◽  
Author(s):  
Loïc Cuvillon ◽  
Xavier Weber ◽  
Jacques Gangloff
Keyword(s):  
Degrees Of Freedom ◽  
Transfer Functions ◽  
Parallel Robot ◽  
Vibration Damping ◽  
Parallel Robots ◽  
Robot Dynamics ◽  
End Effector ◽  
Active Vibration Damping ◽  
Active Vibration ◽  
High Dynamics

Abstract Cable-driven parallel robots are well suited for applications that require a very large workspace. Thanks to their lightweight moving parts, they can achieve high dynamics while remaining pretty safe for nearby human workers. Furthermore, their size depends only on the length of the cables; thus, their scale is almost totally decoupled from their cost. However, due to the cables, the stiffness is very low with respect to rigid link robots, inducing slowly damped oscillations of the end effector. Previous works have shown that those vibrations can be effectively damped by the winch actuators thanks to active vibration damping techniques. In this paper, a gain scheduling approach is proposed based on a linearized model of the robot dynamics. This model is projected in the modal space yielding six decoupled transfer functions for six degrees-of-freedom (DoFs) of a cable-driven parallel robot using thin cables. The stability of the proposed control law is analyzed for a static and a moving end effector. The proposed control algorithm is validated experimentally on an eight-cable suspended robot prototype.

scholarly journals Modeling and Control of a Cable-Suspended Sling-Like Parallel Robot for Throwing Operations

2020 ◽  
Vol 10 (24) ◽  
pp. 9067
Author(s):  
Deng Lin ◽  
Giovanni Mottola ◽  
Marco Carricato ◽  
Xiaoling Jiang
Keyword(s):  
Mathematical Models ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Target Point ◽  
Inertial Effects ◽  
End Effector ◽  
Modeling And Control ◽  
And Control ◽  
Three Degrees Of Freedom

Cable-driven parallel robots can provide interesting advantages over conventional robots with rigid links; in particular, robots with a cable-suspended architecture can have very large workspaces. Recent research has shown that dynamic trajectories allow the robot to further increase its workspace by taking advantage of inertial effects. In our work, we consider a three-degrees-of-freedom parallel robot suspended by three cables, with a point-mass end-effector. This model was considered in previous works to analyze the conditions for dynamical feasibility of a trajectory. Here, we enhance the robot’s capabilities by using it as a sling, that is, by throwing a mass at a suitable time. The mass is carried at the end-effector by a gripper, which releases the mass so that it can reach a given target point. Mathematical models are presented that provide guidelines for planning the trajectory. Moreover, results are shown from simulations that include the effect of cable elasticity. Finally, suggestions are offered regarding how such a trajectory can be optimized.

scholarly journals Rotational Workspace Expansion of a Planar CDPR with a Circular End-Effector Mechanism Allowing Passive Reconfiguration

Robotics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 57 ◽  
Author(s):  
Marco Carpio Alemán ◽  
Roque Saltaren ◽  
Alejandro Rodriguez ◽  
Gerardo Portilla ◽  
Juan Placencia
Keyword(s):  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Parallel Robots ◽  
End Effector ◽  
Effector Mechanism ◽  
Circular Structure ◽  
Adams Software ◽  
Anchor Points ◽  
Orientation Workspace ◽  
Three Degrees Of Freedom

Cable-Driven Parallel Robots (CDPR) operate over a large positional workspace and a relatively large orientation workspace. In the present work, the expansion of the orientation Wrench Feasible Workspace (WFW) in a planar four-cable passive reconfigurable parallel robot with three degrees of freedom was determined. To this end, we proposed a circular-geometry effector mechanism, whose structure allows automatic mobility of the two anchor points of the cables supporting the End Effector (EE). The WFW of the proposed circular structure robot was compared with that of a traditional robot with a rectangular geometry and fixed anchor points. Considering the feasible geometric and tension forces on the cables, the generated workspace volume of the robot was demonstrated in an analysis-by-intervals. The results were validated by simulating the orientation movements of the robot in ADAMS software and a real experimental test was developed for a hypothetical case. The proposed design significantly expanded the orientation workspace of the robot. The remaining limitation is the segment of the travel space in which the mobile connection points can slide. Overcoming this limitation would enable the maximum rotation of the EE.

scholarly journals Design and implementation of a multi-degrees-of-freedom cable-driven parallel robot with gripper

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141880384 ◽  
Author(s):  
Jonqlan Lin ◽  
Chi Ying Wu ◽  
Julian Chang
Keyword(s):  
Degrees Of Freedom ◽  
Load Capacity ◽  
Kinematic Model ◽  
Weight Ratio ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Control Mode ◽  
Level Control ◽  
End Effector ◽  
Upper Level

Cable-driven parallel robots comprise driven actuators that allow controlled cables to act in parallel on an end-effector. Such a robotic system has a potentially large reachable workspace, large load capacity, high payload-to-weight ratio, high reconfigurability, and low inertia, relative to rigid link serial and parallel robots. In this work, a multi-degrees-of-freedom cable-suspended robot that can carry out pick-and-place tasks in large workspaces with heavy loads is designed. The proposed cable-driven parallel robot is composed of a rigid frame and an end-effector that is suspended from eight cables—four upper cables and four lower cables. The lengths of the cables are computed from the given positions of the suspended end-effector using a kinematic model. However, most multi-cable-driven robots suffer from interference among the cables, requiring a complex control methodology to find a target goal. Owing to this issue with cable-driven parallel robots, the whole control structure decomposes positioning control missions and allocates them into upper level and lower level. The upper level control is responsible for tracking the suspended end-effector to the target region. The lower level control makes fine positional modifications. Experimental results reveal that the hybrid control mode notably improves positioning performance. The wide variety of issues that are considered in this work apply to aerostats, towing cranes, locomotion interfaces, and large-scale manufacturing that require cable-driven parallel robots.

scholarly journals An Algebraic Method to Check the Singularity-Free Paths for Parallel Robots

2015 ◽  
Author(s):  
R. Jha ◽  
D. Chablat ◽  
F. Rouillier ◽  
G. Moroz
Keyword(s):  
Degrees Of Freedom ◽  
Complex Shape ◽  
Algebraic Method ◽  
Parallel Manipulators ◽  
Parallel Robot ◽  
Joint Space ◽  
Parallel Robots ◽  
Singular Configuration ◽  
End Effectors ◽  
Three Degrees Of Freedom

Trajectory planning is a critical step while programming the parallel manipulators in a robotic cell. The main problem arises when there exists a singular configuration between the two poses of the end-effectors while discretizing the path with a classical approach. This paper presents an algebraic method to check the feasibility of any given trajectories in the workspace. The solutions of the polynomial equations associated with the trajectories are projected in the joint space using Gröbner based elimination methods and the remaining equations are expressed in a parametric form where the articular variables are functions of time t unlike any numerical or discretization method. These formal computations allow to write the Jacobian of the manipulator as a function of time and to check if its determinant can vanish between two poses. Another benefit of this approach is to use a largest workspace with a more complex shape than a cube, cylinder or sphere. For the Orthoglide, a three degrees of freedom parallel robot, three different trajectories are used to illustrate this method.

Oscillation Reduction and Frequency Analysis of Under-Constrained Cable-Driven Parallel Robot with Three Cables

Robotica ◽  
2019 ◽  
Vol 38 (3) ◽  
pp. 375-395 ◽  
Author(s):  
Sung Wook Hwang ◽  
Jeong-Hyeon Bak ◽  
Jonghyun Yoon ◽  
Jong Hyeon Park
Keyword(s):  
Frequency Analysis ◽  
Degrees Of Freedom ◽  
Natural Frequencies ◽  
Vibration Suppression ◽  
Parallel Manipulators ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Input Shaping ◽  
End Effector ◽  
Multi Mode

SummaryCable-driven parallel robots (CDPRs) possess a lot of advantages over conventional parallel manipulators and link-based robot manipulators in terms of acceleration due to their low inertia. This paper deals with under-constrained CDPRs, which manipulate the end-effector to carrying the payload by using a number of cables less than six, often used preferably owing to their simple structures. Since a smaller number of cables than six are used, the end-effector of CDPR has uncontrollable degrees of freedom and that causes swaying motion and oscillations. In this paper, a scheme to curb on the unwanted oscillation of the end-effector of the CDPR with three cables is proposed based on multimode input shaping. The precise dynamic model of the under-constrained CDPR is obtained to find natural frequencies, which depends on the position of the end-effector. The advantage of the proposed method is that it is practicable to generate the trajectories for vibration suppression based on multi-mode input-shaping scheme in spite of the complexity in the dynamics and the difficulty in computing the natural frequencies of the CDPR, which are required in any input-shaping scheme. To prove the effectiveness of the proposed method, computer simulations and experiments were carried out by using 3-D motion for CDPR with three cables.

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