scholarly journals Direct kinematics of a 3-PRPS type parallel manipulator

2020 ◽  
Vol 108 (4) ◽  
Author(s):  
Zh. Zh. Baigunchekov ◽  
A. N. Kassinov
Keyword(s):  
Parallel Manipulator ◽  
Direct Kinematics

Design and analysis of CICABOT: a novel translational parallel manipulator based on two 5-bar mechanisms

Robotica ◽  
2011 ◽  
Vol 30 (3) ◽  
pp. 449-456 ◽  
Author(s):  
M. F. Ruiz-Torres ◽  
E. Castillo-Castaneda ◽  
J. A. Briones-Leon
Keyword(s):  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Geometric Analysis ◽  
Vector Equation ◽  
Prismatic Joints ◽  
Hollow Cylinders ◽  
Moving Platform ◽  
Direct Kinematics

SUMMARYThis work presents the CICABOT, a novel 3-DOF translational parallel manipulator (TPM) with large workspace. The manipulator consists of two 5-bar mechanisms connected by two prismatic joints; the moving platform is on the union of these prismatic joints; each 5-bar mechanism has two legs. The mobility of the proposed mechanism, based on Gogu approach, is also presented. The inverse and direct kinematics are solved from geometric analysis. The manipulator's Jacobian is developed from the vector equation of the robot legs; the singularities can be easily derived from Jacobian matrix. The manipulator workspace is determined from analysis of a 5-bar mechanism; the resulting workspace is the intersection of two hollow cylinders that is much larger than other TPM with similar dimensions.

Kinematics of a New High-Precision Three-Degree-of-Freedom Parallel Manipulator

2006 ◽  
Vol 129 (3) ◽  
pp. 320-325 ◽  
Author(s):  
Farhad Tahmasebi
Keyword(s):  
Power Dissipation ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Base Plane ◽  
Degree Polynomial ◽  
Payload Capacity ◽  
Half Angle ◽  
Three Degree Of Freedom ◽  
Direct Kinematics

Closed-form direct and inverse kinematics of a new three-degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three-DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base mounted, higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of the tangent of the half-angle between one of the limbs and the base plane. Hence, there are at most 16 assembly configurations for the manipulator. In addition, it is shown that the 16 solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.

Kinematics of a New High Precision Three Degree-of-Freedom Parallel Manipulator

2005 ◽  
Author(s):  
Farhad Tahmasebi
Keyword(s):  
Power Dissipation ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Base Plane ◽  
Degree Polynomial ◽  
Payload Capacity ◽  
Half Angle ◽  
Three Degree Of Freedom ◽  
Direct Kinematics

Closed-form direct and inverse kinematics of a new three degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base-mounted; higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of tangent of half-angle between one of the limbs and the base plane. Hence, there are at most sixteen assembly configurations for the manipulator. In addition, it is shown that the sixteen solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.

Workspace analysis and performance of a binary actuated parallel manipulator with flexural joints

2003 ◽  
Vol 217 (3) ◽  
pp. 313-330 ◽  
Author(s):  
E Ottaviano ◽  
G Carbone ◽  
M Ceccarelli
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Parallel Manipulator ◽  
Mechanical Design ◽  
Parallel Architecture ◽  
Workspace Analysis ◽  
Position And Orientation ◽  
And Performance ◽  
Direct Kinematics ◽  
Flexural Joints

In this paper the design of a miniaturized parallel architecture is investigated in terms of basic performances concerning mobility and workspace characteristics. The miniature requirements have been achieved with a milli-scaled parallel manipulator requiring flexural joints and binary actuation with shape memory alloy wires or small pneumatic pistons. The mechanical design is analysed by considering the mobility of the flexural joints in order to size them and model the kinematics of the joints. The reachability is analysed through a suitable formulation of the direct kinematics by also taking into account binary actuation. Workspace performance has been determined in terms of position and orientation capabilities.

scholarly journals Direct Kinematics of a 3-PRRS Type Parallel Manipulator

2020 ◽  
pp. 967-972
Author(s):  
Zhumadil Zh. Baigunchekov ◽  
Rustem A. Kaiyrov
Keyword(s):  
Parallel Manipulator ◽  
Direct Kinematics

On the Direct Kinematics of Spherical Three-Degree-of-Freedom Parallel Manipulators with a Coplanar Platform

1994 ◽  
Vol 116 (2) ◽  
pp. 587-593 ◽  
Author(s):  
C. M. Gosselin ◽  
J. Sefrioui ◽  
M. J. Richard
Keyword(s):  
Parallel Manipulator ◽  
Minimal Polynomial ◽  
Polynomial Solution ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Real Solutions ◽  
Revolute Joints ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator ◽  
Direct Kinematics

This paper presents a polynomial solution to the direct kinematic problem of a class of spherical three-degree-of-freedom parallel manipulators. This class is defined as the set of manipulators for which the axes of the three revolute joints attached to the gripper link are coplanar and symmetrically arranged. It is shown that, for these manipulators, the direct kinematic problem admits a maximum of 8 real solutions. A polynomial of degree 8 is obtained here to support this result and cases for which all the roots of the polynomial lead to real configurations are presented. Finally, the spherical parallel manipulator with collinear actuators, which received some attention in the literature, is also treated and is shown to lead to a minimal polynomial of the same degree. Examples of the application of the method to manipulators of each category are given and solved.

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