scholarly journals Three Degree of Freedom Spatial Parallel Manipulator Inverse Kinematic Position Analysis

2018 ◽  
Vol 7 (4.5) ◽  
pp. 98
Author(s):  
Srinivasa Rao Pundru ◽  
Mohan Rao Nalluri
Keyword(s):  
Parallel Manipulator ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Algebraic Equations ◽  
Position Analysis ◽  
Fixed Base ◽  
Rotational Joint ◽  
Kinematic Position ◽  
Moving Platform ◽  
Three Degree Of Freedom

This paper presents inverse kinematic position analysis of three degree of freedom spatial parallel manipulator, which has three similar kinematic closed loops. Each loop consist of an actuated sliding linkage- rotational joint and spherical joint. The actuated sliding linkage is coupled to inclined limb of fixed base platform and rotational joints are integrated to the linear sliding actuators. The limbs are connected from rotational joints to moving platform by spherical joints. The degree of freedom of a manipulator is obtained by spatial kutzbach criterion. The inverse kinematic position analysis problem solved by using closed loop technique is applied to 3-coupled trigonometric equations which are obtained with side and behaviour constraints of a parallel manipulator. By using MATLAB the three non-linear coupled algebraic equations are solved. The inverse kinematic position analysis procedure is used in the development process of spatial parallel manipulator. The part of kinematic analysis is used to check the required positions-orientations and after kinematic process the obtained positions-orientations of the moving platform of the developed spatial parallel manipulator.  

scholarly journals Spatial Three Degree of Freedom Parallel Manipulator Forward Kinematic Position Analysis

2018 ◽  
Vol 7 (4.5) ◽  
pp. 147
Author(s):  
Srinivasa Rao Pundru ◽  
Mohan Rao Nallur
Keyword(s):  
Parallel Manipulator ◽  
Linear Equations ◽  
Degree Of Freedom ◽  
Algebraic Equations ◽  
Position Analysis ◽  
Non Linear ◽  
Kinematic Position ◽  
Moving Platform ◽  
Forward Kinematic ◽  
Three Degree Of Freedom

This work presents forward kinematic position analysis of a spatial three degree of freedom parallel manipulator, which has three symmetric loops. The three loops consist of an actuated sliding links- rotational and spherical joints. The actuated sliding links are attached to inclined base platform via rotational joints. The limbs are connected from rotational joints to moving platform by spherical joints. The degree of freedom of a spatial parallel manipulator is analyzed via kutzbach criterion. The forward kinematic position analysis carried out by using 3-coupled trigonometric equations which are formulated with side and behaviour constraints of the manipulator. There are many difficulties in solving the system of non-linear equations in kinematics of manipulator therefore by using MATLAB the three non-linear coupled algebraic equations are solved. The forward position kinematic analysis part is used in the development procedure of spatial parallel manipulator to check, the required and obtained positions of the moving platform of the developed manipulator.  

Position Analysis, Workspace, and Optimization of a 3-P̱PS Spatial Manipulator

2009 ◽  
Vol 131 (5) ◽  
Author(s):  
M. Ruggiu
Keyword(s):  
Nonlinear System ◽  
Analytical Solution ◽  
Reference Point ◽  
Inverse Analysis ◽  
Parallel Manipulator ◽  
Direct Analysis ◽  
Degree Of Freedom ◽  
Position Analysis ◽  
Moving Platform ◽  
Three Degree Of Freedom

The present paper describes the analytical solution of position kinematics for a three degree-of-freedom parallel manipulator. It also provides a numeric example of workspace calculation and a procedure for its optimization. The manipulator consists of a base and a moving platform connected to the base by three identical legs; each leg is provided with a P̱PS chain, where P̱ designates an actuated prismatic pair, P stands for a passive prismatic pair, and S a spherical pair. The direct analysis yields a nonlinear system with eight solutions at the most. The inverse analysis is solved in three relevant cases: (i) the orientation of the moving platform is given, (ii) the position of a reference point of the moving platform is given, and (iii) two rotations (pointing) and one translation (focusing) are given. In the present paper it is proved that case (i) yields an inverse singularity condition of the mechanism; case (ii) provides a nonlinear system with four distinct solutions at the most; case (iii) allows the finding of some geometrical configurations of the actuated pairs for minimizing parasitic movements in the case of a pointing/focusing operation of the manipulator.

Stiffness Analysis of Inverted Tripod Parallel Manipulator

2017 ◽  
Vol 867 ◽  
pp. 205-211
Author(s):  
T. Geethapriyan ◽  
R. Manoj Samson ◽  
T. Muthuramalingam ◽  
A.C. Arun Raj
Keyword(s):  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Ball Screw ◽  
Stiffness Analysis ◽  
Adams Software ◽  
Movable Platform ◽  
Moving Platform ◽  
Rotation Motion ◽  
Three Degree Of Freedom ◽  
Stewart Gough Platform

The concept of parallel manipulator is becoming more popular in modern manufacturing processes due to its various inherent advantages like rigidity, less inertia and accuracy. This project focuses on modeling, simulation and dynamic analysis of inverted tripod parallel manipulator which has three degree of freedom (1 transverse in z axis and rotation motion in x and y axis). The Stewart Gough parallel manipulator consists of moving platform connected to fixed platform with six links (6 Degree of Freedom).This inverted tripod parallel manipulator consists of movable platform connected to the fixed platform with only three links so it has better rigidity compared to Stewart Gough platform. The Stewart Gough parallel manipulator is considered to be highly stable because moving platform size is smaller than the fixed platform. Inverted type parallel manipulator consists of moving platform bigger than the fixed platform. So to improve the stiffness and precision ball screw is used for the support of links. The design of parallel manipulator is done considering rigidity, strength and efficiency of the system. The modeling of the tripod manipulator is done using PRO-E software. Kinematic analysis has been carried out and the stiffness analysis will be done by using ANSYS and ADAMS software.

Design, analysis, and stiffness optimization of a three degree of freedom parallel manipulator

Robotica ◽  
2009 ◽  
Vol 28 (3) ◽  
pp. 349-357 ◽  
Author(s):  
Zhen Gao ◽  
Dan Zhang ◽  
Xiaolin Hu ◽  
Yunjian Ge
Keyword(s):  
Parallel Manipulator ◽  
Optimization Methods ◽  
Inverse Kinematic ◽  
Mean Value ◽  
Optimization Techniques ◽  
Degree Of Freedom ◽  
Stiffness Optimization ◽  
Inverse Kinematic Analysis ◽  
Three Degree Of Freedom ◽  
Stiffness Distribution

SUMMARYThis paper proposed a novel three degree of freedom (DOF) parallel manipulator—two translations and one rotation. The mobility study and inverse kinematic analysis are conducted, and a CAD model is presented showing the design features. The optimization techniques based on artificial intelligence approaches are investigated to improve the system stiffness of the proposed 3-DOF parallel manipulator. Genetic algorithms and artificial neural networks are implemented as the intelligent optimization methods for the stiffness synthesis. The mean value and the standard deviation of the global stiffness distribution are proposed as the design indices. Both the single objective and multi-objective optimization issues are addressed. The effectiveness of this methodology is validated with Matlab.

On the kinematics of the 3-RRUR spherical parallel manipulator

Robotica ◽  
2009 ◽  
Vol 28 (6) ◽  
pp. 821-832 ◽  
Author(s):  
R. Deidda ◽  
A. Mariani ◽  
M. Ruggiu
Keyword(s):  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Mobility Analysis ◽  
Geometrical Condition ◽  
Mechanical Interference ◽  
Fixed Base ◽  
Spherical Wrist ◽  
Moving Platform ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

SUMMARYIn the present paper, the kinematics of a three-degree-of-freedom spherical wrist is investigated. The wrist consists of a fixed base connected to a moving platform by three identical legs, each with a RRUR chain (R and U denote a revolute pair and a universal pair, respectively). For each leg, the first R pair is to be considered actuated. Although in previous works the kinematics synthesis of this architecture was carried out, no detailed studies were presented on the kinematic issues of the wrist. This paper presents the mobility analysis, the direct and inverse position kinematics, the differential kinematics of the manipulator including inspection on the jacobian matrix and the analysis of the singularities. The geometrical condition matched in case of mechanical interference between legs is addressed, too. A numerical example of the manipulator kinematics was performed to obtain the workspace, the condition number and the mechanical inteference condition.

Cartesian Parallel Manipulators With Pseudoplanar Limbs

2006 ◽  
Vol 129 (12) ◽  
pp. 1256-1264 ◽  
Author(s):  
Chung-Ching Lee ◽  
Jacques M. Hervé
Keyword(s):  
Lie Group ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Linear Dependency ◽  
Algebraic Properties ◽  
Moving Platform ◽  
Three Degree Of Freedom

Based on the Lie-group-algebraic properties of the displacement set, the three-degree-of-freedom (3DOF) pseudoplanar motion often termed Y motion for brevity is first introduced. Then, all possible general architectures of the mechanical generators of a given Y subgroup are obtained by implementing serial arrays of 1DOF Reuleaux pairs or hinged parallelograms. In total, five distinct mechanical generators of Y motion are revealed and seven ones having at least one parallelogram are also derived from them. In order to avoid the singularity that may occur in the limbs, all singular postures of Y-motion generators are also located by detecting the possible linear dependency of the joint twists and the group dependency of displacement sets. The parallel layout of three 4DOF limbs including Y-motion generators with orthogonal planes make up a Cartesian translational parallel manipulator, which produces a motion set of spatial translations. The 3DOF translation of the moving platform is directly controlled by the three 1DOF translations in three orthogonal prismatic fixed joints.

KINEMATICS AND WORKSPACE ANALYSIS OF A 3 DEGREE OF FREEDOM PARALLEL MECHANISM WITH PARALLELOGRAM LINKAGE

2017 ◽  
Vol 41 (5) ◽  
pp. 922-935
Author(s):  
HongJun San ◽  
JunSong Lei ◽  
JiuPeng Chen ◽  
ZhengMing Xiao ◽  
JunJie Zhao
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Method ◽  
Analytical Method ◽  
Theoretical Basis ◽  
Parallel Mechanism ◽  
Graphical Method ◽  
Degree Of Freedom ◽  
Workspace Analysis ◽  
Fixed Base ◽  
Moving Platform

In this paper, a 3-DOF translational parallel mechanism with parallelogram linkage was studied. According to the space vector relation between the moving platform and the fixed base, the direct and inverse position solutions of this mechanism was deduced through analytical method. In addition, the error of the algorithm was analyzed, and the algorithm had turned out to be effective and to have the satisfactory computational precision. On the above basis, the workspace of this mechanism was found through graphical method, which was compared with that of finding through Monte Carlo method, and there was the feasibility for analyzing the workspace of the mechanism by graphical method. The characteristic of the mechanism was analyzed by comparing the results of two analysis methods, which provided a theoretical basis for the application of the mechanism.

Kinematics of a New High-Precision Three-Degree-of-Freedom Parallel Manipulator

2006 ◽  
Vol 129 (3) ◽  
pp. 320-325 ◽  
Author(s):  
Farhad Tahmasebi
Keyword(s):  
Power Dissipation ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Base Plane ◽  
Degree Polynomial ◽  
Payload Capacity ◽  
Half Angle ◽  
Three Degree Of Freedom ◽  
Direct Kinematics

Closed-form direct and inverse kinematics of a new three-degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three-DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base mounted, higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of the tangent of the half-angle between one of the limbs and the base plane. Hence, there are at most 16 assembly configurations for the manipulator. In addition, it is shown that the 16 solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.

The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator

1989 ◽  
Vol 111 (2) ◽  
pp. 202-207 ◽  
Author(s):  
C. Gosselin ◽  
J. Angeles
Keyword(s):  
Numerical Method ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Design Criteria ◽  
Kinematic Design ◽  
Three Degree Of Freedom

In this paper, the design of a spherical three-degree-of-freedom parallel manipulator is considered from a kinematic viewpoint. Three different design criteria are established and used to produce designs having optimum characteristics. These criteria are (a) symmetry (b) workspace maximization, and (c) isotropy. The associated problems are formulated and their solutions, one of them requiring to resort to a numerical method, are provided. Optimum designs are thereby obtained. A discussion on singularities is also included.

Parametric Design of a Spherical Eight-Bar Linkage Based on a Spherical Parallel Manipulator

2008 ◽  
Vol 1 (1) ◽  
Author(s):  
Gim Song Soh ◽  
J. Michael McCarthy
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Parametric Design ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
End Effector ◽  
Arbitrary Base ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

This paper presents a procedure that determines the dimensions of two constraining links to be added to a three degree-of-freedom spherical parallel manipulator so that it becomes a one degree-of-freedom spherical (8, 10) eight-bar linkage that guides its end-effector through five task poses. The dimensions of the spherical parallel manipulator are unconstrained, which provides the freedom to specify arbitrary base attachment points as well as the opportunity to shape the overall movement of the linkage. Inverse kinematics analysis of the spherical parallel manipulator provides a set of relative poses between all of the links, which are used to formulate the synthesis equations for spherical RR chains connecting any two of these links. The analysis of the resulting spherical eight-bar linkage verifies the movement of the system.

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