scholarly journals Kinematic Analysis of a Parallel Manipulator Driven by Perpendicular Linear Actuators

Actuators ◽  
2021 ◽  
Vol 10 (10) ◽  
pp. 262
Author(s):  
Kee-Bong Choi ◽  
Jaejong Lee ◽  
Geehong Kim ◽  
Hyungjun Lim ◽  
Soongeun Kwon
Keyword(s):  
Parallel Manipulator ◽  
Type Specimen ◽  
Degree Of Freedom ◽  
Performance Indices ◽  
Actuation Mechanism ◽  
Moving Body ◽  
Global Performance ◽  
Ball Contact ◽  
Prismatic Joints ◽  
Linear Actuators

In this paper, a goniometer-type specimen stage with a linear actuation mechanism mounted on a rotation mechanism is introduced. The linear actuation mechanism was modeled as a spatial parallel manipulator consisting of a moving body, three linear actuators, and an anti-rotation mechanism. The three linear actuators were arranged perpendicular to each other. In the specimen stage, the linear actuators were in ball contact with the surface of a holder designed to hold a specimen. For the parallel manipulator, the ball contact was replaced with two prismatic joints and a spherical joint. The mobility of the manipulator without the anti-rotation mechanism was one degree of freedom greater than the number of actuators. Therefore, the redundant one degree-of-freedom motion was restrained using an anti-rotation mechanism with three rotation joints and two prismatic joints. The inverse and direct kinematics of the goniometer mechanism were derived and verified. In addition, the inverse Jacobian was derived, and local and global performance indices were analyzed by the terms of manipulability and isotropy. Finally, the goniometer-type specimen stage was designed by the global performance indices.

Optimal selection of the supporting points of large component aligned and positioned by parallel manipulator

2016 ◽  
Vol 230 (17) ◽  
pp. 3066-3075
Author(s):  
Hongshuang Zhang ◽  
Junxia Jiang ◽  
Yinglin Ke ◽  
Qing Wang
Keyword(s):  
Parallel Manipulator ◽  
Stability Index ◽  
Stiffness Index ◽  
Performance Indices ◽  
Large Component ◽  
Global Performance ◽  
Effective Selection ◽  
Capacity Index ◽  
Six Degree Of Freedom ◽  
Selection Of

Large components such as wing sections should be aligned and positioned in a desired position prior to the final manufacturing or assembly, so a digital alignment and position device based on six degree of freedom parallel manipulator with several prismatic-prismatic-prismatic-spherical branches was designed and fabricated to meet the needs. The digital alignment and position device is an alignment device based on the parallel manipulator, and it is also a positioning and holding fixture for large components manufacturing or assembly. In order to effectively and efficiently select the supporting points of large component where the digital alignment and position device branch is connected with, the performance of the parallel manipulator and the fixture should be comprehensively analyzed at the same time. The global performance indices such as the dexterity index, the bearing capacity index, and the stiffness index are calculated based on the mechanism Jacobean matrix of the parallel manipulator, and the positioning stability index is calculated based on the position Jacobean matrix of the fixture. The results show that the global performance indices are not related to the pose, but the positioning stability index is; in addition, all indices rely on the originally selected supporting points and provide the basis for the effective selection of the supporting points for large component aligned and positioned by the digital alignment and position device, which is based on parallel manipulator with prismatic- prismatic-prismatic-spherical pairs.

Stiffness-based trajectory planning of a 6-DOF cable-driven parallel manipulator

2016 ◽  
Vol 231 (21) ◽  
pp. 3999-4011 ◽  
Author(s):  
Wenjia Zhang ◽  
Weiwei Shang ◽  
Bin Zhang ◽  
Fei Zhang ◽  
Shuang Cong
Keyword(s):  
Velocity Profile ◽  
Trajectory Planning ◽  
Parallel Manipulator ◽  
Kinematic Model ◽  
Degree Of Freedom ◽  
Performance Indices ◽  
Curved Trajectories ◽  
Quintic Polynomial ◽  
Point To Point ◽  
Six Degree Of Freedom

The stiffness of the cable-driven parallel manipulator is usually poor because of the cable flexibility, and the existing methods on trajectory planning mainly take the minimum time and the optimal energy into account, not the stiffness. To solve it, the effects of different trajectories on stiffness are studied for a six degree-of-freedom cable-driven parallel manipulator, according to the kinematic model and the dynamic model. The condition number and the minimum eigenvalue of the dimensionally homogeneous stiffness matrix are selected as performance indices to analyze the stiffness changes during the motion. The simulation experiments are implemented on a six degree-of-freedom cable-driven parallel manipulator, to study the stiffness of three different trajectory planning approaches such as S-type velocity profile, quintic polynomial, and trigonometric function. The accelerations of different methods are analyzed, and the stiffness performances for the methods are compared after planning the point-to-point straight and the curved trajectories. The simulation results indicate that the quintic polynomial and S-type velocity profile have the optimal performance to keep the stiffness stable during the motion control and the travel time of the quintic polynomial can be optimized sufficiently while keeping stable.

Optimal Kinematic Design of a 2-DOF Planar Parallel Manipulator

2010 ◽  
Vol 44-47 ◽  
pp. 1843-1847
Author(s):  
Xiao Rong Zhu ◽  
Hui Ping Shen ◽  
Wei Zhu
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Operating Mode ◽  
Performance Indices ◽  
Operating Modes ◽  
Geometry Design ◽  
Planar Parallel Manipulator ◽  
Inverse Solutions ◽  
Linear Actuators ◽  
Global And Local

This paper addresses geometry design and operating mode optimum design of a new kind of 2-DOF parallel manipulator actuated horizontally by linear actuators. The forward and inverse kinematics of this manipulator are derived. The four groups of inverse solution correspond to four different operating modes which cannot transit to each other smoothly. The workspace and the singularity trajectory of each mode are discussed. Based on the desired workspace, the geometry of the mechanism is determined. The operating mode of the mechanism is optimized according to distributing of all global and local performance indices on the workspace. The results are very useful for the design and application of the new manipulator with multiple forward and inverse solutions.

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.

A Novel Spherical Parallel Manipulator with Circular Guide

2013 ◽  
Vol 325-326 ◽  
pp. 1014-1018
Author(s):  
Hai Rong Fang ◽  
Zhi Hong Chen ◽  
Yue Fa Fang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
High Rigidity ◽  
Geometric Conditions ◽  
Spherical Parallel Manipulator

In this paper, a novel 3-degree-of-freedom (DOF) parallel manipulator that can perform three rotations around the remote centre is presented. The theory of screws and reciprocal screws is employed for the analysis of the geometric conditions. In particular, using circular guide to instead of R joints, so that has the advantage of enabling continuous 360° revolute around Z-axis. The inverse kinematics of mechanism is given and the workspace has a good performance. To compare with the machine constructed with traditional joints, it has the advantage of high rigidity and precision.

The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator

1989 ◽  
Vol 111 (2) ◽  
pp. 202-207 ◽  
Author(s):  
C. Gosselin ◽  
J. Angeles
Keyword(s):  
Numerical Method ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Design Criteria ◽  
Kinematic Design ◽  
Three Degree Of Freedom

In this paper, the design of a spherical three-degree-of-freedom parallel manipulator is considered from a kinematic viewpoint. Three different design criteria are established and used to produce designs having optimum characteristics. These criteria are (a) symmetry (b) workspace maximization, and (c) isotropy. The associated problems are formulated and their solutions, one of them requiring to resort to a numerical method, are provided. Optimum designs are thereby obtained. A discussion on singularities is also included.

Parametric Design of a Spherical Eight-Bar Linkage Based on a Spherical Parallel Manipulator

2008 ◽  
Vol 1 (1) ◽  
Author(s):  
Gim Song Soh ◽  
J. Michael McCarthy
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Parametric Design ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
End Effector ◽  
Arbitrary Base ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

This paper presents a procedure that determines the dimensions of two constraining links to be added to a three degree-of-freedom spherical parallel manipulator so that it becomes a one degree-of-freedom spherical (8, 10) eight-bar linkage that guides its end-effector through five task poses. The dimensions of the spherical parallel manipulator are unconstrained, which provides the freedom to specify arbitrary base attachment points as well as the opportunity to shape the overall movement of the linkage. Inverse kinematics analysis of the spherical parallel manipulator provides a set of relative poses between all of the links, which are used to formulate the synthesis equations for spherical RR chains connecting any two of these links. The analysis of the resulting spherical eight-bar linkage verifies the movement of the system.

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