1A1-J07 Internal and External Forces Measurement of Planar 3-DOF Redundantly Actuated Parallel Mechanism by Axial Force Sensors(Parallel Robot/Mechanisms and its Control)

2012 ◽  
Vol 2012 (0) ◽  
pp. _1A1-J07_1-_1A1-J07_3
Author(s):  
Takashi HARADA ◽  
Podi LIU
Keyword(s):  
Axial Force ◽  
Parallel Mechanism ◽  
Parallel Robot ◽  
Force Sensors ◽  
Redundantly Actuated ◽  
External Forces

scholarly journals Internal and External Forces Measurement of Planar 3-DOF Redundantly Actuated Parallel Mechanism by Axial Force Sensors

ISRN Robotics ◽  
2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Takashi Harada ◽  
Podi Liu
Keyword(s):  
Parallel Mechanism ◽  
Force Sensor ◽  
Internal Force ◽  
Time System ◽  
Constraint Force ◽  
Real Time System ◽  
Axial Forces ◽  
Redundantly Actuated ◽  
Internal Forces ◽  
External Forces

This paper proposes a method for measuring the internal and external forces of a planar 3-DOF (degree of freedom) redundantly actuated parallel mechanism. The internal forces, force acts inside the endplate and mechanism constraint force, and the external forces, forces act on the endplate and thrusts by actuators, were measured simultaneously using the axial forces of the rods. Kinetostatic equations of the parallel mechanism were used to derive algorithms for measuring the internal and external forces. A link axis force sensor was developed using a strain gauge sensor. To verify the actual internal force of the endplate, a force sensor was also installed on the endplate. A real-time system for measuring the forces of the parallel mechanism was developed using RT-Linux. The external and internal forces were measured accurately.

Force analysis of the redundantly actuated parallel mechanism 2RPR+P considering different control methodologies

2021 ◽  
pp. 103783
Author(s):  
Yundou Xu ◽  
Ze Jiang ◽  
Zhongjin Ju ◽  
Zengzhao Wang ◽  
Wenlan Liu ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Force Analysis ◽  
Redundantly Actuated

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.

Kinematic Analysis of a Novel 3-DOF Parallel Mechanism with Actuation Redundancy

2013 ◽  
Vol 816-817 ◽  
pp. 821-824
Author(s):  
Xue Mei Niu ◽  
Guo Qin Gao ◽  
Zhi Da Bao
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Rbf Neural Network ◽  
Analysis Method ◽  
Parallel Kinematic Mechanism ◽  
Redundantly Actuated ◽  
Parallel Kinematic ◽  
Forward Kinematic ◽  
Kinematic Mechanism ◽  
Kinematic Solution

Kinematic analysis plays an important role in the research of parallel kinematic mechanism. This paper addresses a novel forward kinematic solution based on RBF neural network for a novel 2PRRR-PPRR redundantly actuated parallel mechanism. Simulation results illustrate the validity and feasibility of the kinematic analysis method.

Problems Regarding Singularities Analysis of a 3-RRR Parallel Mechanism

2014 ◽  
Vol 658 ◽  
pp. 569-574 ◽  
Author(s):  
Florentin Buium ◽  
Cezar Duca ◽  
Dumitru Leohchi
Keyword(s):  
Parallel Mechanism ◽  
Scientific Literature ◽  
Parallel Robot ◽  
Principal Mechanism ◽  
Working Quality

The paper presents some authors results regarding working quality inside workspace of a 3 DoF, 3 RRR planar parallel mechanism, used as parallel robot structure. Namely we deal with singularities avoidance inside workspace as is wide known in scientific literature this represents a major disadvantages of these mechanisms. To this purpose, the configuration determinant notion has been used as principal mechanism work parameter.

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