scholarly journals Kinematic, Workspace and Force Analysis of a five-DOF Hybrid Manipulator R(2RPR)R/SP+RR

2021 ◽  
Author(s):  
Yundou Xu ◽  
Fan Yang ◽  
Youen Mei ◽  
Dongsheng Zhang ◽  
Yulin Zhou ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Structure Optimization ◽  
Force Analysis ◽  
Body Model ◽  
Hybrid Manipulator ◽  
Simulation Based ◽  
Processing Ability ◽  
Cutting Experiment ◽  
Position Solution ◽  
Is Design

Abstract In the present study, the over-constrained hybrid manipulator R(2RPR)R/SP + RR is considered as the research objective. In this paper, kinematics of the hybrid manipulator, including the forward and inverse position, are analyzed. Then, the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements, and the actual workspace of the hybrid robot is analyzed. After that, the force analysis of the over-constrained parallel mechanism is carried out, and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the simulation. Based on the obtained results from the force analysis, the manipulator structure is design. Then, the structure optimization is carried out to improve the robot stiffness. Finally, calibration and workspace verification experiments are performed on the prototype, cutting experiment of an S-shaped aluminum alloy workpiece is completed, and the experiment verifies the processing ability of the prototype and proves that the prototype has good application prospects.

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

Experimental Validation of the Kinematics of a 3PRS Compliant Mechanism for Micromilling

2015 ◽  
Author(s):  
Antonio Ruiz ◽  
Francisco Campa Gomez ◽  
Constantino Roldan-Paraponiaris ◽  
Oscar Altuzarra
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Experimental Validation ◽  
Compliant Mechanism ◽  
Motion Controller ◽  
End Effector ◽  
Compliant Joints ◽  
Hybrid Manipulator ◽  
Compliant Parallel Mechanism ◽  
Actuated Joints

The present work deals with the development of a hybrid manipulator of 5 degrees of freedom for milling moulds for microlenses. The manipulator is based on a XY stage under a 3PRS compliant parallel mechanism. The mechanism takes advantage of the compliant joints to achieve higher repetitiveness, smoother motion and a higher bandwidth, due to the high precision demanded from the process, under 0.1 micrometers. This work is focused on the kinematics of the compliant stage of the hybrid manipulator. First, an analysis of the workspace required for the milling of a single mould has been performed, calculating the displacements required in X, Y, Z axis as well as two relative rotations between the tool and the workpiece from a programmed toolpath. Then, the 3PRS compliant parallel mechanism has been designed using FEM with the objective of being stiff enough to support the cutting forces from the micromilling, but flexible enough in the revolution and spherical compliant joints to provide the displacements needed. Finally, a prototype of the 3PRS compliant mechanism has been built, implementing a motion controller to perform translations in Z direction and two rotations. The resulting displacements in the end effector and the actuated joints have been measured and compared with the FEM calculations and with the rigid body kinematics of the 3PRS.

Force Analysis of the Anchor Chains and the Cable in the Crane-System with a Floating Base in Regular Waves

2014 ◽  
Vol 494-495 ◽  
pp. 321-327
Author(s):  
Ya Xin Huang ◽  
Bing Wang ◽  
Jun Yi Liu
Keyword(s):  
Numerical Simulation ◽  
Discrete Time ◽  
Time History ◽  
Roll Motion ◽  
Force Analysis ◽  
Time Transfer ◽  
Regular Waves ◽  
Body Model ◽  
Floating Base ◽  
Rigid Body Model

In order to analyze the force of the anchor chains and the cable in the crane-system with a floating base, firstly the system is simplified to two-rigid-body model and the anchor chains in the system are in symmetric layout; then the motion response of the system as well as the force of the anchor chains and the cable are solved by use of discrete time transfer matrix method, lastly the time history curves of motion of the system and the force of the anchor chains and the cable are obtained. The results of numerical simulation show that the roll motion has greater influences on the system comparing with sway and heave, the amplitudes of sway and heave are small. Furthermore, the force of the anchor chains are mainly caused by the roll motion while the force caused by sway and heave are relatively small.

scholarly journals Design and Analysis of a Rigid-Flexible Parallel Mechanism for a Neck Brace

2019 ◽  
Vol 2019 ◽  
pp. 1-20
Author(s):  
Jingfang Liu ◽  
Yanxia Cheng ◽  
Shuang Zhang ◽  
Zhenxin Lu ◽  
Guohua Gao
Keyword(s):  
Parallel Mechanism ◽  
Rotational Degree ◽  
Compliance Matrix ◽  
Body Model ◽  
Rotation Measurement ◽  
Rigid Body Model ◽  
Compliant Joint ◽  
Spherical Parallel Mechanism ◽  
Rotation Function ◽  
Flexion And Extension

A rigid-flexible parallel mechanism called 3-RXS mechanism as a neck brace for patients with head drooping symptoms (HDS) is presented. The 3-RXS neck brace has a simple and light structure coupled with good rotation performance, so it can be used to assist the neck to achieve flexion and extension, lateral bend, and axial torsion. Firstly, to prove that the X-shaped compliant joint has a rotational degree of freedom (DoF) and can be used in the 3-RRS spherical parallel mechanism (3-RRS SPM), the six-dimensional compliance matrix, axis drift, and DoF of the X-shaped compliant joint have been systematically calculated. Secondly, the 3-RXS mechanism and its pseudo-rigid-body model (PRBM) are obtained by replacing the revolute pair with the X-shaped compliant joint in the 3-RRS SPM. The rotation workspace of the 3-RXS mechanism is also performed. Finally, to verify the rotation function and effect of 3-RXS mechanism for neck-assisted rehabilitation, the kinematics simulations of the 3-RXS and 3-RRS mechanisms are carried out and compared with the theoretical result, and a primary experiment for rotation measurement of 3-RXS mechanism prototype is carried out. All results prove the feasibility of the 3-RXS mechanism for a neck brace.

scholarly journals The Effect of the Optimization Selection of Position Analysis Route on the Forward Position Solutions of Parallel Mechanisms

Robotics ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 93
Author(s):  
Huiping Shen ◽  
Qing Xu ◽  
Ju Li ◽  
Ting-li Yang
Keyword(s):  
Parallel Mechanism ◽  
Selection Criterion ◽  
Parallel Mechanisms ◽  
Position Analysis ◽  
Kinematics Modeling ◽  
Position Solution ◽  
Independent Loops ◽  
Selection Of

The forward position solution (FPS) of any complex parallel mechanism (PM) can be solved through solving in sequence all of the independent loops contained in the PM. Therefore, when solving the positions of a PM, all independent loops, especially the first loop, must be correctly selected. The optimization selection criterion of the position analysis route (PAR) proposed for the FPS is presented in this paper, which can not only make kinematics modeling and solving efficient but also make it easy to get its symbolic position solutions. Two three-translation PMs are used as the examples to illustrate the optimization selection of their PARs and obtain their symbolic position solutions.

Repelling-Screw Based Force Analysis of Origami Mechanisms

2016 ◽  
Vol 8 (3) ◽  
Author(s):  
Chen Qiu ◽  
Ketao Zhang ◽  
Jian S. Dai
Keyword(s):  
Parallel Mechanism ◽  
Screw Theory ◽  
Reaction Force ◽  
Theoretical Background ◽  
Force Analysis ◽  
Modeling Approach ◽  
Reaction Forces ◽  
Redundantly Actuated

This paper provides an approach to model the reaction force of origami mechanisms when they are deformed. In this approach, an origami structure is taken as an equivalent redundantly actuated mechanism, making it possible to apply the forward-force analysis to calculating the reaction force of the origami structure. Theoretical background is provided in the framework of screw theory, where the repelling screw is introduced to integrate the resistive torques of folded creases into the reaction-force of the whole origami mechanism. Two representative origami structures are then selected to implement the developed modeling approach, as the widely used waterbomb base and the waterbomb-based integrated parallel mechanism. With the proposed kinematic equivalent, their reaction forces are obtained and validated, presenting a ground for force analysis of origami-inspired mechanisms.

Research on Optimizing Numerical Calculation of Posture Equations Based on Six DOF Stewart Platform

2014 ◽  
Vol 686 ◽  
pp. 549-553
Author(s):  
Yin Mu Wei
Keyword(s):  
Numerical Calculation ◽  
Numerical Method ◽  
Positive Solution ◽  
Parallel Mechanism ◽  
Solution Method ◽  
Paper Study ◽  
Kinematics Model ◽  
Six Dof ◽  
Simulation Results ◽  
Position Solution

The paper study position positive solution method based on 6-TPS parallel mechanism, and establish general kinematics model of 6-TPS parallel mechanism, gives the numerical method of positive solution based on a kind of position, deduced the forward position solution iteration format, and use MATLAB for the 6-TPS parallel mechanism kinematics to simulation, results show that solving program has stability, fast, effective.

Research on Parametric Simulation Technology Based on Complicated Mechanism Design

2008 ◽  
Author(s):  
Wei Sun ◽  
Qingkai Han ◽  
Xiaopeng Li ◽  
Bangchun Wen
Keyword(s):  
Mechanism Design ◽  
Simulation Study ◽  
Parallel Mechanism ◽  
Parametric Modeling ◽  
New Method ◽  
Simulation Technology ◽  
The Core ◽  
Simulation Based ◽  
Complicated Mechanism

A new method is proposed, which is the core of parametric simulation based on complicated mechanism design. Furthermore, the connotation of parametric simulation is affirmed and the flow of parametric simulation based on complicated mechanism design is put forward. At last, taking a parallel mechanism as example, the technology of parametric simulation proposed is applied to the simulation study used ADAMS, which consist of analyzing mechanism, parametric modeling, creating GUI, creating menu and parametric simulation. The practice indicates that the method is effectual.

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