Kinematic Analysis and Design of 3-RPSR Parallel Mechanism with Triple Revolute Joints on the Base

2010 ◽  
Vol 4 (4) ◽  
pp. 346-354 ◽  
Author(s):  
Yukio Takeda ◽  
◽  
Xiao Xiao ◽  
Kazuya Hirose ◽  
Yoshiki Yoshida ◽  
...  
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Large Angle ◽  
Vertical Axis ◽  
Output Link ◽  
Analysis And Design ◽  
Revolute Joints ◽  
Full Rotation ◽  
Six Dof

The present paper proposes a new six-DOF parallel mechanism with three connecting chains. This mechanism can have a large angle of orientation of the output link. Joints in each connecting chain are arranged from the base in order of revolute, prismatic, spherical and revolute joints. All three revolute joints on the base are coaxial. With this structure, the output link can perform a full rotation around the vertical axis. The orientation capability of this mechanism is demonstrated. Equations for displacement analysis and the Jacobian matrix are derived. A design and prototype of this mechanism for a pipe-bender are shown.

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 and Synthesis of Three-Input, Eight-Bar Mechanisms Driven by Relatively Small Cranks

1992 ◽  
Author(s):  
Kambiz Farhang ◽  
Partha Sarathi Basu
Keyword(s):  
Nonlinear Equations ◽  
Kinematic Analysis ◽  
Linear Equations ◽  
Output Link ◽  
Analysis And Design ◽  
Constraint Equations ◽  
Analysis And Synthesis ◽  
The Mean ◽  
Approximate Equations

Abstract Approximate kinematic equations are developed for the analysis and design of three-input, eight-bar mechanisms driven by relatively small cranks. Application of a method in which an output link is presumed to be comprised of a mean and a perturbational motions, along with the vector loop approach facilitates the derivation of the approximate kinematic equations. The resulting constraint equations are, (i) in the form of a set of four nonlinear equations relating the mean link orientations, and (ii) a set of four linear equations in the unknown perturbations (output link motions). The latter set of equations is solved, symbolically, to obtain the output link motions. The approximate equations are shown to be effective in the synthesis of three-input, small-crank mechanisms.

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.

Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism for Rehabilitation

2007 ◽  
Author(s):  
Jody A. Saglia ◽  
Jian S. Dai
Keyword(s):  
Control System ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Forward Kinematics ◽  
Control System Design ◽  
Ankle Rehabilitation ◽  
Redundantly Actuated ◽  
Moving Platform

This paper presents the geometry and the kinematic analysis of a parallel manipulator developed for ankle rehabilitation, as the beginning of a control system design process. First the geometry of the parallel mechanism is described, secondly the equations for the inverse and the forward kinematics are obtained, then the forward kinematics is analyzed in order to define all the possible configurations of the moving platform. Finally the Jacobian matrix of the rig is obtained by differentiating the position equations and the singularities are investigated, comparing the non-redundant and redundant type of mechanism.

scholarly journals Type synthesis and kinematics analysis of a family of three translational and one rotational pick-and-place parallel mechanisms with high rotational capability

2019 ◽  
Vol 11 (6) ◽  
pp. 168781401985307
Author(s):  
Xing Zhang ◽  
Dejun Mu ◽  
Yuze Liu ◽  
Jie Bi ◽  
Hongrui Wang
Keyword(s):  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Hessian Matrix ◽  
Parallel Mechanisms ◽  
Kinematics Analysis ◽  
Type Synthesis ◽  
Lie Group Theory ◽  
Revolute Joints ◽  
Pick And Place ◽  
Pick And Place Operation

This article proposes a family of spatial three translational and one rotational parallel mechanisms (PMs) for pick-and-place operation. Their features are one independent rotation of the mechanism with four identical limbs, which are provided by the four revolute joints on the moving platform. The rotational capability of the PMs has a range of at least 180°. This article focuses on the synthesis of the PMs and kinematics analysis of the 4- P(2-SS)R parallel mechanism. First, based on the Lie group theory, three parallelograms are used in designing the PMs. The limbs are listed and two types of three translational and one rotational PMs are synthesized. Then, a typical 4- P(2-SS)R PM is selected, the 6 × 6 Jacobian matrix and the 6 × 6 × 6 Hessian matrix of the mechanism are derived for solving the displacement, velocity, and acceleration of the mechanism. Finally, singularity configurations are disclosed from the 6 × 6 Jacobian matrix, and the workspace of the mechanism is provided to illustrate the high rotational capability.

On the kinematics of a new parallel mechanism with Schoenflies motion

Robotica ◽  
2015 ◽  
Vol 34 (9) ◽  
pp. 2056-2070 ◽  
Author(s):  
Po-Chih Lee ◽  
Jyh-Jone Lee
Keyword(s):  
Closed Form ◽  
Condition Number ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Matrix Algebra ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Pick And Place

SUMMARYThis paper investigates the kinematics of one new isoconstrained parallel manipulator with Schoenflies motion. This new manipulator has four degrees of freedom and two identical limbs, each having the topology of Cylindrical–Revolute–Prismatic–Helical (C–R–P–H). The kinematic equations are derived in closed-form using matrix algebra. The Jacobian matrix is then established and the singularities of the robot are investigated. The reachable workspaces and condition number of the manipulator are further studied. From the kinematic analysis, it can be shown that the manipulator is simple not only for its construction but also for its control. It is hoped that the results of the evaluation of the two-limb parallel mechanism can be useful for possible applications in industry where a pick-and-place motion is required.

scholarly journals A Reconfiguration Algorithm for the Single-Driven Hexapod-Type Parallel Mechanism

Robotics ◽  
2022 ◽  
Vol 11 (1) ◽  
pp. 8
Author(s):  
Alexey Fomin ◽  
Anton Antonov ◽  
Victor Glazunov
Keyword(s):  
Mechanism Design ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Virtual Prototype ◽  
Effective Algorithm ◽  
Output Link ◽  
Suggested Algorithm ◽  
Specific Output

This paper presents a hexapod-type reconfigurable parallel mechanism that operates from a single actuator. The mechanism design allows reproducing diverse output link trajectories without using additional actuators. The paper provides the kinematic analysis where the analytical relationships between the output link coordinates and actuated movement are determined. These relations are used next to develop an original and computationally effective algorithm for the reconfiguration procedure. The algorithm enables selecting mechanism parameters to realize a specific output link trajectory. Several examples demonstrate the implementation of the proposed techniques. CAD simulations on a mechanism virtual prototype verify the correctness of the suggested algorithm.

Kinematic analysis of a flexible six-DOF parallel mechanism

2006 ◽  
Vol 36 (2) ◽  
pp. 379-389 ◽  
Author(s):  
Feng-Shui Jing ◽  
Min Tan ◽  
Zeng-Guang Hou ◽  
Zi-Ze Liang ◽  
Yun-Kuan Wang ◽  
...  
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Six Dof
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