Development of Position-Orientation Decoupled Spatial In-Parallel Actuated Mechanisms with Six Degrees of Freedom

2005 ◽  
Vol 17 (1) ◽  
pp. 59-68 ◽  
Author(s):  
Yukio Takeda ◽  
◽  
Kouji Kamiyama ◽  
Yoshihisa Maki ◽  
Masaru Higuchi ◽  
...  
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Experimental Results ◽  
Six Degrees Of Freedom ◽  
Position And Orientation ◽  
Basic Equations ◽  
Number Synthesis ◽  
Theoretical Results

We propose a new structure for spatial in-parallel actuated mechanisms with six degrees of freedom in which the output link’s position and orientation are decoupled. Number synthesis of the position submechanism, a partial mechanism for the position-orientation decoupled mechanism, was conducted, and fifteen mechanisms were clarified. Basic equations for kinematic analysis were derived for four of the obtained mechanisms, and procedures to analyze their forward/inverse displacement were investigated. Their workspaces and swing angles were numerically evaluated based on these equations. Experimental results using an experimental position-orientation decoupled mechanism were presented to support these theoretical results.

A Study of an Arm Type Damper Consisting of Two Links, Two Joints and a Hinge

2002 ◽  
Author(s):  
Taichi Matsuoka ◽  
Kenichiro Omata ◽  
Yasuhisa Okano
Keyword(s):  
Degrees Of Freedom ◽  
Vibration Suppression ◽  
Experimental Results ◽  
Shaking Table ◽  
Friction Damper ◽  
Six Degrees Of Freedom ◽  
Human Arm ◽  
Three Degree Of Freedom ◽  
Ball Joints ◽  
Theoretical Results

In this paper, an arm type passive damper consisting of two links, two joints and a hinge, which is similar to a human arm, has developed. Two magnetic ball joints were used for the joints and a rotary friction damper was used for the hinge. The arm type damper has six degrees of freedom and gives damping in three translational and three rotational directions. The resisting force characteristics of the damper in three translational directions were analyzed. A trial damper was made and the load-displacement curves of the damper in three translational directions were measured. The experimental results agree with the theoretical results to some degree. Next, the damper was attached to a three-degree-of-freedom system composed of a mass, three guide rails and four coil springs, in which the mass is able to move in three translational directions along the guide rails. The seismic responses of the mass in three translational directions were measured using a two-dimensional electrohydraulic type shaking table and the experimental results were compared with the calculated results obtained by the Mathematica 3.0. The experimental results agree with the calculated results to some degree, and the effects of vibration suppression of the damper and the propriety of the calculations were substantiated.

Alternative Inverse Kinematic Equations for General RRP and RRR Regional Structures of Manipulators

1996 ◽  
Author(s):  
Peregrine E. J. Riley
Keyword(s):  
Degrees Of Freedom ◽  
Joint Angle ◽  
Inverse Kinematic ◽  
Intersection Point ◽  
Degree Polynomial ◽  
Six Degrees Of Freedom ◽  
Common Intersection ◽  
Position And Orientation ◽  
Spatial Positioning ◽  
Orientational Structure

Abstract Many manipulators with six degrees of freedom are constructed with two distinct sections, a regional structure for spatial positioning, and an orientational structure having a common intersection point for the joint axes. With this arrangement, inverse kinematic solutions for position and orientation may be found separately. While solutions for general three link manipulators have been available since the work of Pieper in 1969, this paper presents new forms of the inverse kinematic equations for general RRP and RRR regional structures. Cartesian coordinates of the F-surface (generated by movement of the outer two joints) together with the outer joint angle are used as the equation variables. In addition, a second degree polynomial approxiamation of the equation may be used for quick iteration to a solution. It is hoped that these new equations will be useful by themselves and in workspace regions where solutions using equations in terms of the joint variables are numerically inaccurate or impossible.

Validation of a Novel 3D-Printed Instrumented Spatial Linkage That Measures Changes in the Rotational Axes of the Tibiofemoral Joint

2013 ◽  
Author(s):  
Daniel P. Bonny ◽  
S. M. Howell ◽  
M. L. Hull
Keyword(s):  
Degrees Of Freedom ◽  
Rigid Bodies ◽  
Anatomic Landmarks ◽  
Tibiofemoral Joint ◽  
Six Degrees Of Freedom ◽  
Revolute Joints ◽  
Flexion Extension ◽  
3D Printed ◽  
Total Knee ◽  
Position And Orientation

The two kinematic axes of the tibiofemoral joint, the flexion-extension (F-E) and longitudinal rotation (LR) axes [1], are unrelated to the anatomic landmarks often used to align prostheses during total knee arthroplasty (TKA) [1, 2]. As a result, conventional TKA changes the position and orientation of the joint line, thus changing the position and orientation of the F-E and LR axes and consequently the kinematics of the knee. However, the extent to which TKA changes these axes is unknown. An instrument that can measure the locations of and any changes to these axes is an instrumented spatial linkage (ISL), a series of six instrumented revolute joints that can measure the six degrees of freedom of motion (DOF) between two rigid bodies without constraining motion. Previously, we computationally determined how best to design and use an ISL such that rotational and translational errors in locating the F-E and LR axes were minimized [3]. However, this ISL was not constructed and therefore its ability to measure changes in the axes has not been validated. Therefore the objective was to construct the ISL and quantify the errors in measuring changes in position and orientation of the F-E axis.

scholarly journals Design and Development of a Littoral AUV for Underwater Target Localization and Homing Using Vision and SONAR Module

ISRN Robotics ◽  
2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
R. K. Sinha ◽  
Aayush Jha ◽  
Faheem Ahmad ◽  
Vivek Mishra ◽  
Prateek Murgai ◽  
...  
Keyword(s):  
Power Systems ◽  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicle ◽  
Mechanical Design ◽  
Water Environment ◽  
Experimental Results ◽  
Design And Development ◽  
Sound Sources ◽  
Six Degrees Of Freedom ◽  
Underwater Target

This paper presents the design and development of a modular littoral autonomous underwater vehicle called “ZYRA” having six degrees of freedom for performing the following tasks underwater: target (sound sources emitting frequencies between 1 Hz and 180 KHz) localization and homing, buoy detection. The development of the AUV has been divided into, namely, five sections: mechanical design and fabrication, embedded and power systems, control and software, image processing, and underwater acoustics. A fully functional AUV has been tested in a self-created arena with different tasks spread out in a shallow water environment. Two different kinds of experimental results have been presented: first the experimental results of the SONAR module and second based on the number of successful outcomes per total number of trials for each task.

scholarly journals Testing of a MEMS Dynamic Inclinometer Using the Stewart Platform

Sensors ◽  
2019 ◽  
Vol 19 (19) ◽  
pp. 4233 ◽  
Author(s):  
Zhihua Liu ◽  
Chenguang Cai ◽  
Ming Yang ◽  
Ying Zhang
Keyword(s):  
Mechanical System ◽  
Real Time ◽  
Degrees Of Freedom ◽  
Cross Coupling ◽  
Micro Electro Mechanical System ◽  
Stewart Platform ◽  
Forward Kinematics ◽  
Six Degrees Of Freedom ◽  
Position And Orientation ◽  
The Cross

The micro-electro-mechanical system (MEMS) dynamic inclinometer integrates a tri-axis gyroscope and a tri-axis accelerometer for real-time tilt measurement. The Stewart platform has the ability to generate six degrees of freedom of spatial orbits. The method of applying spatial orbits to the testing of MEMS inclinometers is investigated. Inverse and forward kinematics are analyzed for controlling and measuring the position and orientation of the Stewart platform. The Stewart platform is controlled to generate a conical motion, based on which the sensitivities of the gyroscope, accelerometer, and tilt sensing are determined. Spatial positional orbits are also generated in order to obtain the tilt angles caused by the cross-coupling influence. The experiment is conducted to show that the tested amplitude frequency deviations of the gyroscope and tilt sensing sensitivities between the Stewart platform and the traditional rotator are less than 0.2 dB and 0.1 dB, respectively.

Use of 1DOF Haptic Device for Remote-Controlled 6DOF Assembly

2014 ◽  
Vol 8 (3) ◽  
pp. 452-459 ◽  
Author(s):  
Ryoya Kamata ◽  
◽  
Ryosuke Tamura ◽  
Satoshi Niitsu ◽  
Hiroshi Kawaharada ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Haptic Device ◽  
Prototype System ◽  
Assembly Operation ◽  
Six Degrees Of Freedom ◽  
Controlled Assembly ◽  
Sense Of Reality ◽  
Position And Orientation ◽  
Assembly Operations

This paper describes a remote controlled assembly using a haptic device. Most haptic devices have six Degrees Of Freedom (DOFs) for a higher sense of reality. However, for assembly operation, the simultaneous motion of parts with only one or two DOFs is required, and force feedback to operators is used only to maintain contact and detect collisions among parts. This leads to the possibility of assembly operations using a haptic device with a small number of DOFs. In this paper, we propose virtual planes to perform remote control of a 6DOF assembly by way of 1DOF user operations. Virtual planes separate the DOFs for user operation and for automatically generated motions that complement the user operation DOF in each assembly operation. A prototype system was developed with a 6DOF manipulator and camera. The system allows an operator to place virtual planes in any position and orientation using a camera image of the workspace. The experiment results showed the effectiveness of the method for remote controlled assembly without geometry information on the parts.

Kinematic analysis and path planning of a new kinematically redundant planar parallel manipulator

Robotica ◽  
2008 ◽  
Vol 26 (3) ◽  
pp. 405-413 ◽  
Author(s):  
Iman Ebrahimi ◽  
Juan A. Carretero ◽  
Roger Boudreau
Keyword(s):  
Path Planning ◽  
Condition Number ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Six Degrees Of Freedom ◽  
Displacement Problem ◽  
Singular Configurations ◽  
Planar Parallel Manipulator

SUMMARYIn this work, the 3-RPRR, a new kinematically redundant planar parallel manipulator with six-degrees-of-freedom, is presented. First, the manipulator is introduced and its inverse displacement problem discussed. Then, all types of singularities of the 3-RPRR manipulator are analysed and demonstrated. Thereafter, the dexterous workspace is geometrically obtained and compared with the non-redundant 3-PRR planar parallel manipulator. Finally, based on a geometrical measure of proximity to singular configurations and the condition number of the manipulators' Jacobian matrices, actuation schemes for the manipulators are obtained. Different actuation schemes for a given path are obtained and the quality of their actuation schemes are compared. It is shown that the proposed manipulator is capable of following a path while avoiding the singularities.

Kinematics and mobility analysis of carton folds in packing manipulation based on the mechanism equivalent

2002 ◽  
Vol 216 (10) ◽  
pp. 959-970 ◽  
Author(s):  
J S Dai ◽  
J Rees Jones
Keyword(s):  
Graph Theory ◽  
Closed Form ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Mobility Analysis ◽  
Mathematical Basis ◽  
Packaging Process ◽  
Kinematic Geometry ◽  
Position And Orientation

The process of erecting and closing a carton in packing manipulation is seen as a succession of folds in position and orientation from one distinct configuration to another. Permitted manipulations and changes in shape are governed by the geometry of crease lines, dimensions and profiles of the panels. The possibility for panels to fold into successive distinct configurations is determined by the kinematic geometry. This paper presents a mathematical basis which determines the mobility of distinct configurations of a carton to include the degrees of freedom dominating the manipulation and the overconstraint configurations in an erected and closed form, and proposes the kinematic analysis of a carton during packing manipulation. Use is made of the concept of line vectors and screw theory associated with graph theory. The analysis helps to explain some configurations which show how a carton can fold and opens up the way of describing manipulation in the packaging process.

Six degrees of freedom parallel robots with C5 links

Robotica ◽  
1992 ◽  
Vol 10 (1) ◽  
pp. 35-44 ◽  
Author(s):  
Y. Amirat ◽  
F. Artigue ◽  
J. Pontnau
Keyword(s):  
Automotive Industry ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Parallel Architecture ◽  
Parallel Robot ◽  
Parallel Architectures ◽  
Parallel Robots ◽  
Left Hand ◽  
Six Degrees Of Freedom ◽  
Assembly Tasks

SummaryThis paper presents at first a static and kinematic analysis of closed chains mechanisms which permits to deduce different possible fully parallel architectures. Then we focus on a particular parallel architecture with C5 links designed to perform precise assembly tasks. A general modeling of this C5 parallel robot is presented. Two typical assembly tasks in the automotive industry are also proposed; the first one uses the C5 links parallel robot as a left-hand device, while the second one uses it as the terminal tool of a sequential manipulator.

Full-Mobility Three-CCC Parallel-Kinematics Machines: Kinematics and Isotropic Design

2017 ◽  
Vol 10 (1) ◽  
Author(s):  
Wei Li ◽  
Jorge Angeles
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Large Region ◽  
Parallel Kinematics ◽  
Six Degrees Of Freedom ◽  
Parallel Kinematics Machines ◽  
The Subject ◽  
Moving Platform

The subject of this paper is twofold: the kinematics and the isotropic design of six degrees-of-freedom (DOF), three-CCC parallel-kinematics machines (PKMs). Upon proper embodiment and dimensioning, the PKMs discussed here, with all actuators mounted on the base, exhibit interesting features, not found elsewhere. One is the existence of an isotropy locus, as opposed to isolated isotropy points in the workspace, thereby guaranteeing the accuracy and the homogeneity of the motion of the moving platform (MP) along different directions within a significantly large region of their workspace. The conditions leading to such a locus are discussed in depth; several typical isotropic designs are brought to the limelight. Moreover, the kinematic analysis shows that rotation and translation of the MP are decoupled, which greatly simplifies not only the kinetostatic analysis but also, most importantly, their control. Moreover, it is shown that the singularity loci of this class of mechanism are determined only by the orientation of their MP, which also simplifies locus evaluation and eases its representation.

Sign in / Sign up

Export Citation Format

Share Document