Kinematic analysis and design of a novel 6-degree of freedom parallel robot

2014 ◽  
Vol 229 (2) ◽  
pp. 291-303 ◽  
Author(s):  
DU Hui ◽  
GAO Feng ◽  
PAN Yang
Keyword(s):  
Set Theory ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Design Methodology ◽  
Parallel Robot ◽  
End Effector ◽  
Analysis And Design ◽  
Velocity Models ◽  
Reachable Workspace ◽  
Rotational Motions

A novel 3-UP3R parallel mechanism with six degree of freedoms is proposed in this paper. One most important advantage of this mechanism is that the three translational and three rotational motions are partially decoupled: the end-effector position is only determined by three inputs, while the rotational angles are relative to all six inputs. The design methodology via GF set theory is brought out, using which the limb type can be determined. The mobility of the end-effector is analyzed. After that, the kinematic and velocity models are formulated. Then, workspace is studied, and since the robot is partially decoupled, the reachable workspace is also the dexterous workspace. In the end, both local and global performances are discussed using conditioning indexes. The experiment of real prototype shows that this mechanism works well and may be applied in many fields.

Analysis and Optimization of a New Differentially Driven Cable Parallel Robot

2015 ◽  
Vol 7 (3) ◽  
Author(s):  
Hamed Khakpour ◽  
Lionel Birglen ◽  
Souheil-Antoine Tahan
Keyword(s):  
Kinematic Analysis ◽  
Design Methodology ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Cable Robot ◽  
Proper Design ◽  
Two Indices ◽  
Three Degrees Of Freedom ◽  
Cable Robots

In this paper, a new three degrees of freedom (DOF) differentially actuated cable parallel robot is proposed. This mechanism is driven by a prismatic actuator and three cable differentials. Through this design, the idea of using differentials in the structure of a spatial cable robot is investigated. Considering their particular properties, the kinematic analysis of the robot is presented. Then, two indices are defined to evaluate the workspaces of the robot. Using these indices, the robot is subsequently optimized. Finally, the performance of the optimized differentially driven robot is compared with fully actuated mechanisms. The results show that through a proper design methodology, the robot can have a larger workspace and better performance using differentials than the fully driven cable robots using the same number of actuators.

scholarly journals Displacement Analysis and Design of a (2–RRU)–URR Parallel Mechanism Performing 2R1T Output Motion for Thumb Rehabilitation

Robotics ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 67
Author(s):  
Woo-hyeok Choi ◽  
Yukio Takeda
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Human Hand ◽  
Displacement Analysis ◽  
Analysis And Design ◽  
Reachable Workspace ◽  
Flexion Extension ◽  
Basic Characteristics ◽  
Narrow Space ◽  
Input Torque

The thumb assists other fingers, and any damage in its functionality prevents the human hand from performing dexterous functions. In this paper, the kinematic design of the (2–RRU)–URR parallel mechanism as the application of the thumb rehabilitation device is proposed. This mechanism is an over-constrained mechanism capable of achieving the required mobility with fewer joints. Three degrees of freedom exist—two rotational and one translational mobility—that are related to each thumb movement: adduction–abduction and flexion–extension. Considering the narrow space of the hand, actuators are designed to divide its placement into the surface of the palm. To avoid the collisions between the device and the hand, an offset was adopted. The displacement analysis problem is solved by dividing it into two parts: the planar motion generator (PMG) and orientation generator (OG), according to each functional motion, and the corresponding equations and procedures are presented. To clarify the basic characteristics of this mechanism, the reachable workspace of the PMG and rotational ability and sensitivity of the OG is demonstrated numerically. Because a large input torque difference is dangerous in the rehabilitation mechanism, the effective workspace is determined according to the magnitude of the input torque differences and compared with the measured thumb movements.

Kinematic analysis and design of a 3-DOF translational parallel robot

2017 ◽  
Vol 14 (4) ◽  
pp. 432-441 ◽  
Author(s):  
Mahmood Mazare ◽  
Mostafa Taghizadeh ◽  
M. Rasool Najafi
Keyword(s):  
Kinematic Analysis ◽  
Parallel Robot ◽  
Analysis And Design

Novel Design and Analysis of a Fully Decoupled 3-DOF Spherical Parallel Robot

2009 ◽  
Author(s):  
Dan Zhang ◽  
Fan Zhang
Keyword(s):  
Physical Meaning ◽  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
Redundant Constraints ◽  
Rotational Motions ◽  
Three Degree Of Freedom ◽  
Novel Design

In this paper, we propose a unique, decoupled Three Degree-of-Freedom (DOF) parallel wrist. The condition required for synthesizing a fully isotropic parallel mechanism is obtained based on the physical meaning of the row vector in the Jacobian Matrix. Specifically, an over-constrained spherical 3-DOF parallel mechanism is presented and the modified structure, which avoids the redundant constraints, is also introduced. The proposed manipulator is capable of decoupled rotational motions around the x, y and z axes and contains an output angle that is equal to the input angle. Since this device is analyzed with the Jacobian Matrix, which is constant, the mechanism is free of singularity and maintains homogenous stiffness over the entire workspace.

Kinematic Analysis and Simulation of the Translational Parallel Mechanism

2011 ◽  
Vol 213 ◽  
pp. 43-47 ◽  
Author(s):  
Dong Tao Xu ◽  
Zhi Li Sun ◽  
Jia Lian Shi
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Virtual Prototyping ◽  
Inverse Solution ◽  
Kinematic Modeling ◽  
Forward Solution ◽  
Vector Method ◽  
End Effector ◽  
Kinematic Simulation ◽  
Revolute Joints

This paper presents a novel, precision, maneuverable, 3-DOF translational parallel mechanism. The mechanism’s important feature is that all of the kinematic joints are the revolute joints. The paper derives the mechanism’s kinematic forward solution and inverse solution by using of coordinate transformation elimination method and vector method, and establishes proper kinematic modeling. Kinematic simulation is carried out by ADAMS virtual prototyping software. The operating data is obtained, it verifies the correctness of solving the forward and inverse solution, and solve the question of choices for many results during the theoretical solution. This technique can provide a useful tool in the design of kinematic trajectory of the parallel mechanism’s end-effector and the kinematic analysis of other parallel mechanism.

The Manta and the Kanuk: Novel 4-DOF Parallel Mechanisms for Industrial Handling

1999 ◽  
Author(s):  
Luc H. Rolland
Keyword(s):  
Parallel Mechanism ◽  
Kinematic Chain ◽  
Parallel Robot ◽  
Chain Structure ◽  
Parallel Robots ◽  
Parallel Mechanisms ◽  
End Effector ◽  
Low Mass ◽  
Loading And Unloading ◽  
Very High

Abstract Two novel 4-DOF very fast parallel robots were designed. This paper introduces the new parallel mechanism designs which are named the Manta and the Kanuk. In order to reduce manipulator overall costs, the actuator and encoder numbers are minimized to the exact effective degrees-of-freedoms (DOF) which is usually not the case in most parallel robot designs. The robots allow end-effector displacements along the three Cartesian translations and one platform transversal rotation. The two remaining rotations are blocked by the intrinsic mechanical structure including the rotation along the platform normal which is always limited in range. The main advantages are high stiffness through the multiple kinematic chain structure which allow for low mass designs. Moreover, they feature simple mechanical construction. Thus, it shall be possible to achieve very high throughput since high accelerations are feasible. To circumvent the known workspace limitations, the actuators were selected to be prismatic along linear axes. The applications are automated warehouse manipulation, mediatheque manipulation, machine tool tool changers, loading and unloading.

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.

scholarly journals Development of interface for kinematic analysis of a delta-type parallel robot

2021 ◽  
pp. 18-27
Author(s):  
Martín Eduardo Rodríguez-Franco ◽  
Ricardo Jara-Ruiz ◽  
Yadira Fabiola López-Álvarez ◽  
Juan Carlos García-Rodríguez
Keyword(s):  
Kinematic Analysis ◽  
Data Entry ◽  
Implementation Process ◽  
Parallel Robot ◽  
Inverse Kinematic ◽  
End Effector ◽  
Delta Type ◽  
Kinematic Models ◽  
User Friendly ◽  
Average Position

The development and implementation process of a computer interface for the kinematic analysis of a parallel robot, in delta configuration, and its application to a previously formed prototype are exposed. Being identified the associated equations, and deduced the respective geometric parameters. On the other hand, the synthesis of the direct and inverse kinematic models, with the Matlab software, guarantees the calculation of a specific Cartesian position, in the end effector of the robot used, once certain joint values have been assigned to it, or vice versa. Finally, a user-friendly graphical interface is created, whose functions are: data entry, resolution of the models described, issuance of the corresponding results, representation of the robot used and its physical manipulation. The results obtained in the real location of the end effector with respect to the values deduced by the interface, are competitive for both models analyzed, even though the prototype used operates by means of servomotors. An average position error of 0.083 cm per axis and overall of 0.006 cm is observed during the tests developed.

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