300-N Class Convex-Based Telescopic Manipulator and Trial for 3-DOF Parallel Mechanism Robot

2021 ◽  
Vol 33 (1) ◽  
pp. 141-150
Author(s):  
Takashi Kei Saito ◽  
Kento Onodera ◽  
Riku Seino ◽  
Takashi Okawa ◽  
Yasushi Saito ◽  
...  
Keyword(s):  
Mechanical Stress ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Structural Problems ◽  
Type K ◽  
Spatial Parallel Mechanism ◽  
Expansion Range ◽  
Class Power ◽  
Linear Actuators ◽  
Three Degrees Of Freedom

We designed a new telescopic manipulator that uses a clustered elastic convex tape. The manipulator has an ultra-wide expansion range and toughness against mechanical stress. Compared to conventional linear actuators, our convex-type manipulators have high extension range and are very lightweight. Moreover, they are compact when rolled up. The telescopic manipulators designed in the previous study had insufficient output due to structural problems and were unstable. In this study, we report a Type-K telescopic manipulator mechanism (Makijaku-Ude Type-K), which is a redesigned manipulator that can be easily used with a 300-N class power, and applied the mechanism to a three degrees-of-freedom spatial parallel-mechanism robot.

Architecture Optmization of a 3-DOF Parallel Mechanism

1998 ◽  
Author(s):  
J. A. Carretero ◽  
R. P. Podhorodeski ◽  
M. Nahon
Keyword(s):  
Parallel Mechanism ◽  
Architectural Design ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Design Parameters ◽  
Objective Functions ◽  
Constraint Equations ◽  
Three Degree Of Freedom ◽  
Architecture Optimization ◽  
Three Degrees Of Freedom

Abstract This paper presents a study of the architecture optimization of a three-degree-of-freedom parallel mechanism intended for use as a telescope mirror focussing device. The construction of the mechanism is first described. Since the mechanism has only three degrees of freedom, constraint equations describing the inter-relationship between the six Cartesian coordinates are given. These constraints allow us to define the parasitic motions and, if incorporated into the kinematics model, a constrained Jacobian matrix can be obtained. This Jacobian matrix is then used to define a dexterity measure. The parasitic motions and dexterity are then used as objective functions for the optimizations routines and from which the optimal architectural design parameters are obtained.

Kinematics and Workspace Analysis of 3-RPP Parallel Mechanism

2013 ◽  
Vol 456 ◽  
pp. 146-150
Author(s):  
Zhi Jiang Xie ◽  
Jun Zhang ◽  
Xiao Bo Liu
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Parallel Mechanisms ◽  
Vector Method ◽  
Workspace Analysis ◽  
Inverse Solutions ◽  
Three Degrees Of Freedom

This paper designed a kind of parallel mechanism with three degrees of freedom, the freedom and movement types of the robot are analyzed in detail, the parallel mechanisms Kinematics positive and inverse solutions are derived through using the vector method. And at last its workspace is analyzed and studied systematically.

Jacobian approach to the kinestatic analysis of a full vehicle model with application to cornering motion analysis

2020 ◽  
Vol 234 (18) ◽  
pp. 3543-3559
Author(s):  
Guofeng Zhou ◽  
Junwoo Kim ◽  
Yong Je Choi
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Three Dimensional ◽  
Kinematic Chain ◽  
Contact Model ◽  
Vehicle Body ◽  
Spatial Parallel Mechanism ◽  
6 Degrees Of Freedom ◽  
Instantaneous Screw

The Jacobian approach to the kinestatic analysis of a planar suspension mechanism has been previously presented. In this paper, the theory is extended to three-dimensional kinestatic analysis by developing a full kinematic model and viewing it as a spatial parallel mechanism. The full kinematic model consists of two pairs of the front (double wishbone) and rear (multi-link) suspension mechanisms together with a newly developed ground-wheel contact model. The motion of each wheel of four suspension mechanisms is represented by the corresponding instantaneous screw at any instant. A vehicle is considered to be a 6-degrees-of-freedom spatial parallel mechanism whose vehicle body is supported by four serial kinematic chains. Each kinematic chain consists of a virtual instantaneous screw joint and a kinematic pair representing ground-wheel contact model. The kinestatic equation of the 6-degrees-of-freedom spatial parallel mechanism is derived in terms of the Jacobian. As an important application, a cornering motion of a vehicle is analysed under the assumption of steady-state cornering. A numerical example is presented to illustrate how to determine the optimal locations of strut springs for the least roll angle in cornering motion using the proposed method.

Kinematic Synthesis and Modeling of a Three Degrees-of-Freedom Hybrid Mechanism for Shoulder and Hip Modules of Humanoid Robots

2016 ◽  
Vol 8 (4) ◽  
Author(s):  
Samer Alfayad ◽  
Ahmad M. Tayba ◽  
Fethi B. Ouezdou ◽  
Faycal Namoun
Keyword(s):  
Degrees Of Freedom ◽  
Research Work ◽  
Humanoid Robots ◽  
Kinematic Synthesis ◽  
Hybrid Mechanism ◽  
Generic Hybrid ◽  
Hybrid Mechanisms ◽  
Large Motion ◽  
Linear Actuators ◽  
Three Degrees Of Freedom

This paper deals with a research work that aims to develop a new three degrees-of-freedom (DoF) hybrid mechanism for humanoid robotics application. The proposed hybrid mechanism can be used as a solution not only for several modules in humanoid robots but also for other legged robots such as quadrupeds and hexapods. Hip and shoulder mechanisms are taken as examples in this paper; torso and spine mechanisms, too, can be based on the proposed solutions. In this paper, a detailed analysis of the required performances of the hip and shoulder mechanisms is first carried out. Then, using a kinematic synthesis, a novel solution for the hip mechanism is proposed based on one rotary and two linear actuators. Improving this solution allows us to fulfill the requirements induced by the large motion ranges of the shoulder module, leading to a new management of the linear actuators contributions in the motion/force achievement process. Kinematic and geometrical models of a generic hybrid mechanism are achieved and used to get the optimized solutions of both hybrid mechanisms addressed in this paper.

scholarly journals A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics

2020 ◽  
Vol 12 (2) ◽  
Author(s):  
Huiping Shen ◽  
Damien Chablat ◽  
Boxiong Zeng ◽  
Ju Li ◽  
Guanglei Wu ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Design Theory ◽  
Degrees Of Freedom ◽  
Analytic Solutions ◽  
Inverse Kinematic ◽  
Kinematic Modeling ◽  
Topological Design ◽  
Prismatic Joints ◽  
Topological Characteristics ◽  
Three Degrees Of Freedom

Abstract According to the topological design theory and the method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a three-degrees-of-freedom (3-DOF) translational PM that has three advantages, i.e., (i) it consists of three fixed actuated prismatic joints, (ii) the PM has analytic solutions to the direct and inverse kinematic problems, and (iii) the PM is of partial motion decoupling property. First, the main topological characteristics, such as the POC, degree-of-freedom, and coupling degree, were calculated for kinematic modeling. Thanks to these properties, the direct and inverse kinematic problems can be readily solved. Further, the conditions of the singular configurations of the PM were analyzed, which corresponds to its partial motion decoupling property.

scholarly journals Input Rationality Analysis of Three Degree of freedom Parallel Mechanism with Limbs of Embedding Structures

2019 ◽  
Vol 10 (2) ◽  
pp. 343-353
Author(s):  
Gaowei Yang ◽  
Jianjun Zhang ◽  
Weimin Li ◽  
Kaicheng Qi
Keyword(s):  
Parallel Mechanism ◽  
Group Selection ◽  
Degrees Of Freedom ◽  
Selection Rule ◽  
Direct Application ◽  
Input Selection ◽  
Selection Theory ◽  
Coupling Relationship ◽  
Three Degree Of Freedom ◽  
Three Degrees Of Freedom

Abstract. Three degrees of freedom (3-DoF) parallel mechanism (PM) with limbs of embedding structures is a kind of PM with a coupling relationship between limbs. In order to obtain a more desirable motion, the analysis of its actuated pairs shall be conducted. However, the fact that the existence of limbs coupling results in non-unique limb group, this mechanism has multiple limb groups. In this regard, the traditional input selection theory is not suitable for direct application in the input rationality analysis. Aiming to avoid this, a general extended input selection theory and limb group selection rule are proposed. The former tackles the traditional input selection theory which is not suitable for analyzing the input of PM with limbs of embedding structures since it does not take the influence of group into consideration, whereas the latter makes the calculation of the former easier. Based on the extended input selection theory and the limb group selection rule, the input and configuration of the 3-DoF PM with limbs of embedding structures are improved.

scholarly journals Simulation of a parallel mechanical elbow with 3 DOF

2009 ◽  
Vol 7 (02) ◽  
Author(s):  
J. R. Mendoza-Vázquez ◽  
E. Tlelo-Cuautle ◽  
J.L. Vázquez-Gonzalez ◽  
A. Z. Escudero-Uribe
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Mechanical Support ◽  
Simulation And Modeling ◽  
Matlab Simulation ◽  
Geometric Methods ◽  
Kinematics Simulation ◽  
Linear Actuators ◽  
Simulation Results

The kinematics simulation and modeling of a mechanical elbow of 3 degrees of freedom, is introduced by highlighting the main features of the mechanism related to the design criteria. The mechanical elbow is used as a transhumeral prosthetic part, and it has been built as a parallel topology consisting of electric linear actuators and universal joints. The parallel mechanism has 4 legs. 3 are electric linear actuators, and the fourth leg provides mechanical support for the whole structure and holds a DC Motor that performs the action of gripping objects. Furthermore, this paper shows the inverse kinematics for the elbow by geometric methods, and the MatLab‐simulation results show the workspace of the movement and the ability of the mechanical elbow to replicate the movements of a biological one.

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