Kinematics analysis of a redundantly actuated 4-RUU translational parallel manipulator and its nonredundant 3-RUU counterpart

2016 ◽  
Vol 231 (17) ◽  
pp. 3238-3249 ◽  
Author(s):  
Haibo Qu ◽  
Sheng Guo ◽  
Ying Zhang
Keyword(s):  
Comparative Study ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Kinematics Analysis ◽  
Universal Joint ◽  
Torque Distribution ◽  
Redundantly Actuated

This paper presents a comparative study of the kinematics and torque distribution performance of a nonredundant 3-RUU and a redundantly actuated 4-RUU (R: revolute joint, U: universal joint) translational parallel manipulators. First, the reason for unexpected rotations is analyzed based on screw theory and a redundantly actuated 4-RUU translational parallel manipulator is presented to eliminate the unexpected rotations. Then, the degrees of freedom, inverse kinematics, Jacobian matrices, and workspace of 3-RUU and 4-RUU parallel manipulators are analyzed. Finally, a comparative study of torque distribution is performed. The results show that the redundantly actuated 4-RUU parallel manipulator can overcome the unexpected rotations and possesses an improved torque distribution, compared with the nonredundant 3-RUU parallel manipulator.

A 2(3-RRPS) parallel manipulator inspired by Gough–Stewart platform

Robotica ◽  
2012 ◽  
Vol 31 (3) ◽  
pp. 381-388 ◽  
Author(s):  
Jaime Gallardo-Alvarado ◽  
Mario A. García-Murillo ◽  
Eduardo Castillo-Castaneda
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Forward Kinematics ◽  
Triangular Prism ◽  
Input Output ◽  
Six Degrees Of Freedom ◽  
Moving Platform

SUMMARYThis study addresses the kinematics of a six-degrees-of-freedom parallel manipulator whose moving platform is a regular triangular prism. The moving and fixed platforms are connected to each other by means of two identical parallel manipulators. Simple forward kinematics and reduced singular regions are the main benefits offered by the proposed parallel manipulator. The Input–Output equations of velocity and acceleration are systematically obtained by resorting to reciprocal-screw theory. A case study, which is verified with the aid of commercially available software, is included with the purpose to exemplify the application of the method of kinematic analysis.

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.

Differential kinematics of parallel manipulators using Assur virtual chains

2009 ◽  
Vol 223 (7) ◽  
pp. 1697-1711 ◽  
Author(s):  
A Campos ◽  
R Guenther ◽  
D Martins
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Screw Theory ◽  
Kinematic Chain ◽  
Parallel Manipulators ◽  
Kinematic Constraints ◽  
Passive Joint ◽  
Planar Parallel Manipulator ◽  
Stewart Gough Platform ◽  
Homogeneous Linear

This article introduces the concept of Assur virtual chains and its applications in differential kinematics of parallel manipulators. Using Assur virtual chains, the differential kinematics has a simple matricial formulation and the choice between direct and inverse kinematics is reduced to select primary variables in a homogeneous linear system. Assur virtual chains are also useful for obtaining information about the relative movements or to imposing particular kinematic constraints between two links of a kinematic chain. Additionally, a new systematic algorithm is established to analytically eliminate passive joint velocities and calculate the Jacobian matrices. This elimination approach is based on screw theory concepts such as twist, wrench, and reciprocity; also, graph theory is used for kinematic chain representation. At the end of the article, the method is applied to a 3RRR planar parallel manipulator and a general universal-prismatic-spheric Stewart—Gough platform.

Inverse Kinematics and Dynamics of a 3-DOF Spatial Parallel Manipulator

2012 ◽  
Vol 229-231 ◽  
pp. 2280-2284
Author(s):  
Jian Xin Yang ◽  
Ben Zhao ◽  
Chun Li Li
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Rotational Degree ◽  
Kinematics Analysis ◽  
Inverse Dynamic ◽  
Generalized Coordinates ◽  
Euler Approach ◽  
Position And Orientation

Recently the parallel manipulator with less DOFs has attracted industry and academia, but the research on its dynamics is still an open problem. In this paper, the inverse dynamic of a spatial parallel manipulator with two translational degrees of freedom and one rotational degree of freedom is studied based on the Newton-Euler approach. The kinematics analysis is firstly performed in a closed form. The inverse dynamic equation of this manipulator is formulated by using the Lagrange multiplier approach and choosing the Cartesian position and orientation as the generalized coordinates. Finally a numerical example is given for the kinematic and dynamic simulation of this manipulator. The model will be useful to improve the design of the mechanical components and the control algorithm.

The kinematics and statics of manipulators

2009 ◽  
Vol 223 (9) ◽  
pp. 2155-2166 ◽  
Author(s):  
J-S Zhao ◽  
W Lu ◽  
F Chu ◽  
Z-J Feng
Keyword(s):  
Path Planning ◽  
Inverse Kinematics ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Static Balance ◽  
Kinematics Analysis ◽  
Virtual Power ◽  
End Effector ◽  
Forward And Inverse Kinematics ◽  
Inverse Velocity

As the kinematics and statics play a very important role in determining the actuating inputs and the effective loads that the end-effector sustains, this article focuses on this issue and proposes an analytical process to study the forward and inverse kinematics and statics of spatial manipulators. As series manipulators and parallel manipulators show different features in kinematics and statics, this article discusses them separately. First, the forward and inverse velocity problems of the manipulator linkages are investigated with reciprocal screw theory. Then, the static balance conditions together with forward and inverse statics of the manipulator linkages are established through virtual power theory. In the kinematics analysis, the primary conditions for feasible motions of an end-effector are addressed through velocity screws. Illustrative examples indicate that the method proposed in this article can be used to guide the singularity identification, path planning, and feasible motion determination.

Performance Mapping and Motion Simulation of a 4UPS+PU Redundantly Actuated Parallel Manipulator

2010 ◽  
Author(s):  
Zhen Gao ◽  
Dan Zhang
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Parallel Manipulators ◽  
Inverse Kinematic ◽  
Reachable Workspace ◽  
Redundantly Actuated ◽  
Inverse Kinematic Analysis ◽  
Motion Characteristics ◽  
Operational Capacity

In this paper, a new 4UPS+PU redundantly actuated parallel manipulator is proposed. This mechanism possesses three degrees of freedom (DOF), one translation and two rotations. Different from general parallel manipulators, a passive leg is connected to both centers of the base and the moving platform to constrain the unwanted motion. The mobility study and inverse kinematic analysis are conducted. The reachable workspace is generated with boundary-searching based discretization method. The local and global performance indices including stiffness and dexterity and their atlas are investigated in details. Comprehensive simulation of kinematics, dynamics and proportional-integral-derivative (PID) position control are implemented based on Adams to evaluate and testify the high operational capacity and well motion characteristics.

Mobility Analysis and Inverse Kinematics of a Novel 2R1T Parallel Manipulator

2011 ◽  
Author(s):  
Enrique Cuan-Urquizo ◽  
Ernesto Rodriguez-Leal ◽  
Jian S. Dai
Keyword(s):  
Software Package ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Parallel Robot ◽  
Mobility Analysis ◽  
Closure Equation ◽  
Inverse Kinematics Problem ◽  
Three Degrees Of Freedom

This paper presents a novel parallel robot constructed with a three-limb CUP architecture. The mobility of the mechanism is obtained using screw theory, showing that the platform has three degrees of freedom, namely: (i) translation along the Z axis; and (ii) two rotations. The position analysis investigates the loop-closure equation resulting in a unique solution for the inverse kinematics problem and the identification of parasitic motions of the platform. The paper validates the analytical solution with a numerical example, where the results are compared with motion simulations of the manipulator using a commercially available software package.

A Method to Evaluate and Calculate the Mobility of a General Compliant Parallel Manipulator

2004 ◽  
Author(s):  
Jingjun Yu ◽  
Shusheng Bi ◽  
Guanghua Zong
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Compliant Mechanism ◽  
Parallel Manipulators ◽  
Kinematic Characteristic ◽  
Parallel Kinematic Machine ◽  
Compliance Matrix ◽  
Multiple Degrees Of Freedom ◽  
Parallel Kinematic

A compliant parallel manipulator (CPM), is a kind of compliant mechanism characterizes a complicate topological structure and multiple degrees of freedom. As one of the kinematic characteristics of a CPM, the mobility of a CPM become complicate compared to its rigid-counterpart. In order to describe such a complicate kinematic characteristic of a CPM, “primary mobility of a compliant parallel manipulator” concept is proposed. By means of the screw theory, a method of quantifying the primary mobility of the CPM is investigated under the ground that the compliance matrix of the manipulator should be calculated primarily. By using this method, the primary mobility of two typical compliant parallel manipulators, one is a planar 3-RRR CPM and the other a spatial 3-RRPR CPM, is addressed respectively. This proposed method is also instructive for analyzing the instantaneous mobility of a general degenerate-DOF parallel manipulator or a Parallel Kinematic Machine (PKM).

Kinematic Analysis and Design of a New 3-DOF Translational Parallel Manipulator

2005 ◽  
Vol 128 (4) ◽  
pp. 729-737 ◽  
Author(s):  
Yangmin Li ◽  
Qingsong Xu
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Forward Kinematics ◽  
Velocity Analysis ◽  
Analysis And Design ◽  
Reachable Workspace ◽  
Three Degrees Of Freedom ◽  
Real Machine

A new three degrees of freedom (3-DOF) translational parallel manipulator (TPM) with fixed actuators called a 3-PRC TPM is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analysis are performed and the singular and isotropic configurations are identified afterward. Moreover, the mechanism design to eliminate all singularities and generate an isotropic manipulator has been presented. With the variation on architectural parameters, the reachable workspace of the manipulator is generated and compared. Especially, it is illustrated that the manipulator in principle possesses a uniform workspace with a constant hexagon shape cross section. Furthermore, the dexterity characteristics are investigated in the local and global sense, respectively, and some considerations for real machine design have been proposed as well.

scholarly journals Pa<sup>2</sup> kinematic bond in translational parallel manipulators

2018 ◽  
Vol 9 (1) ◽  
pp. 25-39 ◽  
Author(s):  
Alfonso Hernández ◽  
Erik Macho ◽  
Mónica Urízar ◽  
Víctor Petuya ◽  
Zhen Zhang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Kinematic Chain ◽  
Parallel Manipulators ◽  
The Other ◽  
Practical Application ◽  
Promising Alternative ◽  
Revolute Joints ◽  
Prismatic Joints

Abstract. The Pa2 pair is composed of two intertwined articulated parallelograms connecting in parallel two links of a kinematic chain. This pair has two translational degrees of freedom leading to a translational plane variable with the position. Currently, the Pa2 pair appears in conceptual designs presented in recent papers. However, its practical application is very limited. One of the reasons for this can be the high number of redundant constraints it has. But, it has to be considered that most of them can be eliminated by replacing wisely the revolute joints by spherical joints. On the other side, the structure of the Pa2 pair contributes to increase the global stiffness of the kinematic chain in which it is mounted. Also, its implementation is a promising alternative to the problematic passive prismatic joints. In this paper, the Pa2 pairs are used in the design of a 3 − P Pa2 parallel manipulator. The potentiality of this design is evaluated and proven after doing the following analyses: direct and inverse kinematics, singularity study, and workspace computation and assessment.

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