Parallel Mechanisms. Parallel Link Systems Applied to Motion Simulation Theaters.

In our previous work, we developed a compact 6-DOF haptic interface as a master device which achieved an effective manual teleoperation. The haptic interface contains a modified Delta parallel-link positioning mechanism. Parallel mechanisms are usually characterized by a high stiffness, which, however, is reduced by elastic deformations of both parts and bearings. Therefore, to design such a parallel mechanism, we should analyze its structural stiffness, including elastic deformations of both parts and bearings. Then we propose a simple method to analyze structural stiffness in a parallel mechanism using bearings. Our method is based on standard concepts such as static elastic deformations. However, the important aspect of our method is the manner in which we combine these concepts and how we obtain the value of the elasticity coefficient of a rotation axis in a bearing. Finally, we design a modified Delta mechanism, with a well-balanced stiffness, based on our method of stiffness analysis.

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Workspace Analysis of New Type Parallel Mechanism with Serial Input

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.308-310.2114 ◽

2011 ◽

Vol 308-310 ◽

pp. 2114-2119 ◽

Cited By ~ 2

Author(s):

Peng Lin Jing ◽

Zhi You Feng

Keyword(s):

Parallel Mechanism ◽

Inverse Kinematic ◽

Parallel Mechanisms ◽

Constraint Force ◽

Workspace Analysis ◽

Inverse Solutions ◽

New Type ◽

Parallel Link ◽

Branched Chain ◽

The Impact

A new 4 DOF parallel mechanism with serial input limb is presented ——2UPS-RPU parallel mechanism, the limb with serial input is a less contrained active branched-chain,the number of its DOF is less than six,that is to say,the limbs not only transmitting driving force but also constraint force at the same time.Compared with traditional parallel mechanisms,the mechanism with serial input has greater number of DOF than the number of limbs and don’t lose the property of parallel mechanism. The inverse solutions to positions of the mechanism are modeled by inverse kinematic analysis in this paper, then the constraint conditions are established according to factors influencing the workspace of parallel mechanism,such as the limits of the hinge angle and the parallel link length.The workspace of 2UPS-RPU parallel mechanism can be obtained by using exetreme-boundary numerical algorithm in Matlab,the volume of workspace can be quantified by means of computation,and analyzing the impact of rod length ,circumradius of moving and fixed platform and motion pair rotation angle on the workspace.

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Control Method for Realistic Motion in a Construction Tele-robotic System with a 3-DOF Parallel Mechanism

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2003.p0361 ◽

2003 ◽

Vol 15 (4) ◽

pp. 361-368 ◽

Cited By ~ 18

Author(s):

Dingxuan Zhao ◽

◽

Yupeng Xia ◽

Hironao Yamada ◽

Takayoshi Muto

Keyword(s):

Parallel Mechanism ◽

Control Method ◽

Robotic System ◽

Degree Of Freedom ◽

Experimental Result ◽

Parallel Mechanisms ◽

High Quality ◽

Link Mechanism ◽

Acceleration Sensors ◽

Parallel Link

In this study, we developed a construction tele-robotic system, which can be widely used, for example, for restoration works in damaged areas. The system consists of a servo-controlled construction robot, two joysticks for operations of the robot from a remote place and a 3-degree-of-freedom (DOF) parallel mechanism. An important problem to be solved in such a system is how to convey adequate presence of working area in a high quality to the operator. In this paper, we propose a control method of a 3-DOF parallel link mechanism to simulate the motion of the construction robot by using three acceleration sensors. The validity of this method has been confirmed experimentally. According to the experimental result, each motion of roll, pitch and heave of the construction robot can be simulated accurately by the 3-DOF parallel mechanisms.

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Parallel Mechanisms Applied to the Human Knee Passive Motion Simulation

Advances in Robot Kinematics ◽

10.1007/978-94-011-4120-8_35 ◽

2000 ◽

pp. 333-344 ◽

Cited By ~ 14

Author(s):

V. Parenti-Castelli ◽

R. Di Gregorio

Keyword(s):

Motion Simulation ◽

Parallel Mechanisms ◽

Passive Motion ◽

Human Knee

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Mechanism and Control of Parallel-Wire Driven System

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2015.p0599 ◽

2015 ◽

Vol 27 (6) ◽

pp. 599-607 ◽

Cited By ~ 7

Author(s):

Hitoshi Kino ◽

◽

Sadao Kawamura ◽

Keyword(s):

Robot Manipulators ◽

Parallel Mechanisms ◽

Serial Link ◽

Parallel Wire ◽

Link Mechanism ◽

Human Arm ◽

Driven System ◽

Parallel Link ◽

And Control ◽

Controlled Object

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270006/01.jpg"" width=""300"" /> A parallel-wire driven system</div>Many of the conventional robot manipulators have a serial-link mechanism to imitate a human arm. In recent years, however, industries have been aggressive in putting parallel-link mechanisms into practical use to cope with various problems that no conventional serial-link mechanisms have ever been able to solve. Under the circumstances, this paper describes a parallel-wire driven system, one of the parallel mechanisms. It is a system to drive a controlled object with flexible and light wires instead of rigid links. It has many advantages over conventional serial-link mechanisms or other ordinary parallel-link mechanisms. This paper first overviews previous studies on parallel-wire driven robots, and then details the mechanism and control of these systems, as well as examples of their application.

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