Forward kinematics analysis and experimental validation of a four-cable-driven under-constrained parallel mechanism

2013 ◽  
Vol 228 (7) ◽  
pp. 1235-1247 ◽  
Author(s):  
Zhen-Cai Zhu ◽  
Peter CY Chen ◽  
Xing-Guo Shao ◽  
Qing-Guo Wang ◽  
Guo-An Chen
Keyword(s):  
Parallel Mechanism ◽  
Experimental Validation ◽  
Experimental Results ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Kinematics Model ◽  
Tension Distribution ◽  
Traversal Algorithm

Taking the sinking winch mechanism as prototype, this paper studies the forward kinematics problem of a four-cable-driven under-constrained parallel mechanism. The tension states (slackness and tautness) and properties of the cables are incorporated into the forward kinematics model. We propose a new algorithm (named traversal algorithm) to solve the tensions in cables and the pose of platform, under the condition that only the lengths of four cables are known. The simulation and experimental results on forward kinematics demonstrate the effectiveness and correctness of the model and the traversal algorithm. The results of this paper can be used to evaluate the effect of the unequal cables’ lengths to the tension distribution of cables and pose of the platform for sinking winch mechanism.

Mechanism Design and Kinematics Simulation of Massage Mechanical Arm

2011 ◽  
Vol 101-102 ◽  
pp. 279-282 ◽  
Author(s):  
Jun Xie ◽  
Jun Zhang ◽  
Jie Li
Keyword(s):  
Mechanism Design ◽  
Three Dimensional ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Kinematics Model ◽  
Kinematics Simulation ◽  
The Common ◽  
Executive Mechanism

Based on the characteristics and the common massage manipulations of Chinese medical massage, a practical series mechanical arm was presented to act the manipulations with the parallel executive mechanism. Forward kinematics was solved by the Denavit-Hartenberg transformation after the kinematics model of the arm was established. And the three-dimensional model of the arm was created by Pro/E and was imported into ADAMS for the kinematics analysis. The results indicated that the common massage manipulations could be simulated by the arm correctly and flexibly, and it verified the accuracy of the mechanism design of the arm.

Building of Fine-Tuning Mechanism Posture and Kinematics Model for Shield Segment Erector

2013 ◽  
Vol 634-638 ◽  
pp. 3737-3740
Author(s):  
Ying Chao Yuan ◽  
Yu Zhang
Keyword(s):  
Parallel Mechanism ◽  
Fine Tuning ◽  
Kinematics Analysis ◽  
Lie Groupoids ◽  
Kinematic Synthesis ◽  
Kinematics Model ◽  
Tuning Mechanism ◽  
And Performance ◽  
Segment Erector

The fine-tuning posture 3-SPS-1-S-type mechanism’s kinematics model and position mechanism for segment erector is built by creating general stiffness motion and revolution motion’s posture parameterized representations based on the Lie groupoids theory’s kinematic synthesis, the duality between parallel mechanism structure and performance and PRY angle coordination system’s kinematics analysis.

Forward Kinematics Analysis and Experiment of Small-Caliber Well Rescue System

2014 ◽  
Vol 945-949 ◽  
pp. 1426-1429
Author(s):  
Xiu Juan Sun ◽  
Chuan Jiang Wang ◽  
Jian Wu
Keyword(s):  
Degree Of Freedom ◽  
Experimental Results ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Experimental Prototype ◽  
Deep Well ◽  
Mechanical Component ◽  
Rescue Experiment ◽  
Rescue System ◽  
Rescue Mechanism

As for the new designed small-caliber well rescue system for the fallen person in deep well, we made a detailed description about the rescue mechanism, which was composed of framework, anchorage set, stretching arm and clasp arm, and illustrated the function of each mechanical component. Moreover, we deduced the forward kinematics matrices of the clasp arm and the stretching arm, and analyzed and provided the parameters of each degree of freedom. Meanwhile, the experimental prototype of the rescue system was designed and the imitated rescue experiment for a doll was fulfilled. The experimental results show that the rescue system is feasible in small caliber deep well rescue.

A novel 4-RRCR parallel mechanism based on screw theory and its kinematics analysis

2012 ◽  
Vol 227 (9) ◽  
pp. 2039-2048 ◽  
Author(s):  
Sheng Guo ◽  
Congzhe Wang ◽  
Haibo Qu ◽  
Yuefa Fang
Keyword(s):  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Elimination Method ◽  
Direct Kinematics

In this article, a novel 4-RRCR parallel mechanism is introduced based on screw theory, and its kinematics and singularity are studied systematically. First, the degree of freedom analysis is performed using the screw theory. The formulas for solving the inverse and direct kinematics are derived. Second, a recursive elimination method is proposed to solve the Jacobian matrix based on the algebra operation of reciprocal product. Then, three kinds of singularity, i.e. limb, platform, and actuation singularities are analyzed. Finally, the analysis proves that the proposed mechanism possesses two advantages of simple forward kinematics and no platform singularity.

Design and kinematics analysis of a new 3CCC parallel mechanism

Robotica ◽  
2010 ◽  
Vol 28 (7) ◽  
pp. 1065-1072 ◽  
Author(s):  
Dongming Gan ◽  
Qizheng Liao ◽  
Jian S. Dai ◽  
Shimin Wei
Keyword(s):  
Parallel Mechanism ◽  
Screw Theory ◽  
Polynomial Equation ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Eighth Order ◽  
Order Polynomial ◽  
Geometrical Constraints ◽  
Geometry Analysis ◽  
Theoretical Results

SUMMARYA CCC limb and a new 3CCC parallel mechanism have been designed in this paper based on geometry analysis. Their mobility and geometrical constraints are discussed by using screw theory and geometrical equations separately. Following that both the inverse and forward kinematics of the 3CCC parallel mechanism are proposed, in which Dixon's resultant is used to get the forward solutions for the orientation and a eighth-order polynomial equation in one unknown is obtained, leading to the results for the position analysis, numerical examples confirm these theoretical results. A short comparison with the traditional Stewart platforms is presented in terms of kinematics, workspace and trajectory planning.

Design, Modeling and Kinematics Analysis of a Novel Serial/Parallel Pole Climbing and Manipulating Robot

Volume 2 ◽  
2004 ◽  
Author(s):  
G. R. Vossoughi ◽  
S. Bagheri ◽  
M. Tavakoli ◽  
M. R. Zakerzadeh ◽  
M. Hosseinzadeh
Keyword(s):  
Cross Section ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Main Part ◽  
Target Point ◽  
Tubular Structures ◽  
Kinematics Analysis ◽  
Kinematics Model ◽  
Workspace Analysis ◽  
Forward And Inverse Kinematics

This paper introduces a multi-task 4 DOF pole climbing/manipulating robotic mechanism. A hybrid serial/parallel mechanism, providing 2 translations and 2 rotations, have been designed as the main part of the mechanism. This robotic mechanism can travel along tubular structures with bends, branches and step changes in cross section. It is also able to perform manipulation, repair and maintenance tasks after reaching the target point on the structure. After introducing the mechanism, a kinematics model and the forward and inverse kinematics as well as the workspace analysis of the mechanism are presented.

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