scholarly journals Dimensional (Parametric) Synthesis of the Hexapod-Type Parallel Mechanism with Reconfigurable Design

Machines ◽  
2021 ◽  
Vol 9 (6) ◽  
pp. 117
Author(s):  
Alexey Fomin ◽  
Anton Antonov ◽  
Victor Glazunov ◽  
Giuseppe Carbone

The study provides a solution to a dimensional synthesis problem for a hexapod-type reconfigurable parallel mechanism, which can change its configuration to realize different trajectories of its output link while having a single drive. The work presents an original procedure to find the dimensions of some mechanism’s links and their initial configuration to reproduce these trajectories. After describing the mechanism, the paper examines kinematic relations representing the basis for the subsequent synthesis algorithm. Next, the obtained expressions are extended and provide a system of equations to be solved. The structure of this equation system allows it to be solved effectively by numerical methods, which is demonstrated with an example. The proposed algorithm of dimensional synthesis does not require solving the optimization problems, in contrast to the familiar methods of dimensional synthesis of parallel mechanisms. Further, the suggested approach to the synthesis problem allows finding solution in a fast and computationally efficient manner.

Author(s):  
Yu Zou ◽  
Yuru Zhang

The maximum wrench capabilities of the cable-driven parallel mechanisms are investigated in this paper. Focusing on accuracy and efficiency, two methods, an optimization-based method and a hybrid method based on optimization and geometry, are presented for determining the wrench capability of the cable-driven parallel mechanisms. Both methods are applied to a 6-DOF cable-driven parallel mechanism with eight cables to compute the maximum isotropic force and maximum isotropic moment. Comparison of the two methods is made. The results show that the hybrid method proposed is more accurate and computationally efficient.


Author(s):  
Zexiao Xie ◽  
Ben Ma ◽  
Ping Ren

This paper presents the design of a computed torque controller for a two-degree-of-freedom (two-dof) cable-suspended parallel mechanism. Unlike fully constrained cable-driven parallel mechanisms, cable-suspended parallel mechanisms are not redundantly actuated and usually have the same number of actuated cables as the degrees of freedom. Compared with rigid-link parallel mechanisms, the control of cabled parallel mechanisms is more challenging in that the cable tensions are unidirectional. Taking the input constraints into account, the method of computed torque control is applied to the two-dof planar cable robot. The sufficient conditions and necessary & sufficient conditions of the controller’s parameters are obtained, under which the positiveness of the tensions is always maintained during the point-to-point motion within the cable robot’s static workspace. Numerical simulations show that the controller is computationally efficient and the end-effector of the robot could converge to desired final positions with exponential stability.


2019 ◽  
Vol 32 (1) ◽  
Author(s):  
Haitao Liu ◽  
Ke Xu ◽  
Huiping Shen ◽  
Xianlei Shan ◽  
Tingli Yang

Abstract Direct kinematics with analytic solutions is critical to the real-time control of parallel mechanisms. Therefore, the type synthesis of a mechanism having explicit form of forward kinematics has become a topic of interest. Based on this purpose, this paper deals with the type synthesis of 1T2R parallel mechanisms by investigating the topological structure coupling-reducing of the 3UPS&UP parallel mechanism. With the aid of the theory of mechanism topology, the analysis of the topological characteristics of the 3UPS&UP parallel mechanism is presented, which shows that there are highly coupled motions and constraints amongst the limbs of the mechanism. Three methods for structure coupling-reducing of the 3UPS&UP parallel mechanism are proposed, resulting in eight new types of 1T2R parallel mechanisms with one or zero coupling degree. One obtained parallel mechanism is taken as an example to demonstrate that a mechanism with zero coupling degree has an explicit form for forward kinematics. The process of type synthesis is in the order of permutation and combination; therefore, there are no omissions. This method is also applicable to other configurations, and novel topological structures having simple forward kinematics can be obtained from an original mechanism via this method.


2020 ◽  
Vol 33 (1) ◽  
Author(s):  
Fu-Qun Zhao ◽  
Sheng Guo ◽  
Hai-Jun Su ◽  
Hai-Bo Qu ◽  
Ya-Qiong Chen

Abstract As the structures of multiarm robots are serially arranged, the packaging and transportation of these robots are often inconvenient. The ability of these robots to operate objects must also be improved. Addressing this issue, this paper presents a type of multiarm robot that can be adequately folded into a designed area. The robot can achieve different operation modes by combining different arms and objects. First, deployable kinematic chains (DKCs) are designed, which can be folded into a designated area and be used as an arm structure in the multiarm robot mechanism. The strategy of a platform for storing DKCs is proposed. Based on the restrictions in the storage area and the characteristics of parallel mechanisms, a class of DKCs, called base assembly library, is obtained. Subsequently, an assembly method for the synthesis of the multiarm robot mechanism is proposed, which can be formed by the connection of a multiarm robot mechanism with an operation object based on a parallel mechanism structure. The formed parallel mechanism can achieve a reconfigurable characteristic when different DKCs connect to the operation object. Using this method, two types of multiarm robot mechanisms with four DKCs that can switch operation modes to perform different tasks through autonomous combination and release operation is proposed. The obtained mechanisms have observable advantages when compared with the traditional mechanisms, including optimizing the occupied volume during transportation and using parallel mechanism theory to analyze the switching of operation modes.


Author(s):  
Duanling Li ◽  
Pu Jia ◽  
Jiazhou Li ◽  
Dan Zhang ◽  
Xianwen Kong

Abstract The current research of reconfigurable parallel mechanism mainly focuses on the construction of reconfigurable joints. Compared with the method of changing the mobility by physical locking joints, the geometric constraint has good controllability, and the constructed parallel mechanism has more configurations and wider application range. This paper presents a reconfigurable axis (rA) joint inspired and evolved from Rubik's Cubes, which have a unique feature of geometric and physical constraint of axes of joint. The effectiveness of the rA joint in the construction of the limb is analyzed, resulting in a change in mobility and topology of the parallel mechanism. The rA joint makes the angle among the three axes inside the groove changed arbitrarily. This change in mobility is completed by the case illustrated by a 3(rA)P(rA) reconfigurable parallel mechanism having variable mobility from 1 to 6 and having various special configurations including pure translations, pure rotations. The underlying principle of the metamorphosis of this rA joint is shown by investigating the dependence of the corresponding screw system comprising of line vectors, leading to evolution of the rA joint from two types of spherical joints to three types of variable Hooke joints and one revolute joint. The reconfigurable parallel mechanism alters its topology by rotating or locking the axis of rA joint to turn all limbs into different phases. The prototype of reconfigurable parallel mechanism is manufactured and all configurations are enumerated to verify the validity of the theoretical method by physical experiments.


2014 ◽  
Vol 136 (4) ◽  
Author(s):  
Joshua E. Johnson ◽  
Phil Lee ◽  
Terence E. McIff ◽  
E. Bruce Toby ◽  
Kenneth J. Fischer

Joint injuries and the resulting posttraumatic osteoarthritis (OA) are a significant problem. There is still a need for tools to evaluate joint injuries, their effect on joint mechanics, and the relationship between altered mechanics and OA. Better understanding of injuries and their relationship to OA may aid in the development or refinement of treatment methods. This may be partially achieved by monitoring changes in joint mechanics that are a direct consequence of injury. Techniques such as image-based finite element modeling can provide in vivo joint mechanics data but can also be laborious and computationally expensive. Alternate modeling techniques that can provide similar results in a computationally efficient manner are an attractive prospect. It is likely possible to estimate risk of OA due to injury from surface contact mechanics data alone. The objective of this study was to compare joint contact mechanics from image-based surface contact modeling (SCM) and finite element modeling (FEM) in normal, injured (scapholunate ligament tear), and surgically repaired radiocarpal joints. Since FEM is accepted as the gold standard to evaluate joint contact stresses, our assumption was that results obtained using this method would accurately represent the true value. Magnetic resonance images (MRI) of the normal, injured, and postoperative wrists of three subjects were acquired when relaxed and during functional grasp. Surface and volumetric models of the radiolunate and radioscaphoid articulations were constructed from the relaxed images for SCM and FEM analyses, respectively. Kinematic boundary conditions were acquired from image registration between the relaxed and grasp images. For the SCM technique, a linear contact relationship was used to estimate contact outcomes based on interactions of the rigid articular surfaces in contact. For FEM, a pressure-overclosure relationship was used to estimate outcomes based on deformable body contact interactions. The SCM technique was able to evaluate variations in contact outcomes arising from scapholunate ligament injury and also the effects of surgical repair, with similar accuracy to the FEM gold standard. At least 80% of contact forces, peak contact pressures, mean contact pressures and contact areas from SCM were within 10 N, 0.5 MPa, 0.2 MPa, and 15 mm2, respectively, of the results from FEM, regardless of the state of the wrist. Depending on the application, the MRI-based SCM technique has the potential to provide clinically relevant subject-specific results in a computationally efficient manner compared to FEM.


2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110177
Author(s):  
Jia Yonghao ◽  
Chen Xiulong

For spatial multibody systems, the dynamic equations of multibody systems with compound clearance joints have a high level of nonlinearity. The coupling between different types of clearance joints may lead to abundant dynamic behavior. At present, the dynamic response analysis of the spatial parallel mechanism considering the three-dimensional (3D) compound clearance joint has not been reported. This work proposes a modeling method to investigate the influence of the 3D compound clearance joint on the dynamics characteristics of the spatial parallel mechanism. For this purpose, 3D kinematic models of spherical clearance joint and revolute joint with radial and axial clearances are derived. Contact force is described as normal contact and tangential friction and later introduced into the nonlinear dynamics model, which is established by the Lagrange multiplier technique and Jacobian of constraint matrix. The influences of compound clearance joint and initial misalignment of bearing axes on the system are analyzed. Furthermore, validation of dynamics model is evaluated by ADAMS and Newton–Euler method. This work provides an essential theoretical basis for studying the influences of 3D clearance joints on dynamic responses and nonlinear behavior of parallel mechanisms.


2010 ◽  
Vol 4 (4) ◽  
pp. 355-363 ◽  
Author(s):  
Hiroshi Yachi ◽  
◽  
Hiroshi Tachiya

This paper proposes a calibration method for parallel mechanisms usingResponse Surface Methodology. This method is a statistical approach to estimating an unknown input-output relationship using a small set of efficient data collected on an intended system. Although identifying locations causing positional errors in a parallel mechanism and precisely measuring the position and posture of the output point are difficult, the proposed calibration method based onResponse Surface Methodologyaims to compensate for positional and postural errors, without indentifying the locations causing these errors, by using a small yet efficient measurement data set. This study analyzes the effectiveness of the method we propose by applying it to a Stewart platform, which is a typical spatial 6-DOF parallel mechanism.


2021 ◽  
Vol 11 (19) ◽  
pp. 9002
Author(s):  
Qiang Yang ◽  
Hongkun Ma ◽  
Jiaocheng Ma ◽  
Zhili Sun ◽  
Cuiling Li

Kinematic accuracy is a crucial indicator for evaluating the performance of mechanisms. Low-mobility parallel mechanisms are examples of parallel robots that have been successfully employed in many industrial fields. Previous studies analyzing the kinematic accuracy analysis of parallel mechanisms typically ignore the randomness of each component of input error, leading to imprecise conclusions. In this paper, we use homogeneous transforms to develop the inverse kinematics models of an improved Delta parallel mechanism. Based on the inverse kinematics and the first-order Taylor approximation, a model is presented considering errors from the kinematic parameters describing the mechanism’s geometry, clearance errors associated with revolute joints and driving errors associated with actuators. The response surface method is employed to build an explicit limit state function for describing position errors of the end-effector in the combined direction. As a result, a mathematical model of kinematic reliability of the improved Delta mechanism is derived considering the randomness of every input error component. And then, reliability sensitivity of the improved Delta parallel mechanism is analyzed, and the influences of the randomness of each input error component on the kinematic reliability of the mechanism are quantitatively calculated. The kinematic reliability and proposed sensitivity analysis provide a theoretical reference for the synthesis and optimum design of parallel mechanisms for kinematic accuracy.


2020 ◽  
Author(s):  
Jianzhong Ding ◽  
Xueao Liu ◽  
chunjie wang

Abstract A novel method for repeatability analysis of overconstrained kinematic coupling using a parallel-mechanism-equivalent-model is proposed. An overconstrained Kelvin-type coupling with one additional support is introduced and used for method illustration. Contact forces of the overconstrained coupling under preload are computed with Moore-Penrose inverse and the deformations are obtained using the Hertz theory. The couping is equivalently modeled as a 7-SPS parallel mechanism, spherical joints of which represent the centers of the supporting balls and the contact points, respectively, and prismatic joints are used to simulate the deformations. Therefore, pose error of the coupling arisen from preload is analyzed using the well-appraised incremental method for forward kinematics analysis of parallel mechanisms. The uncertainties of the preload are discussed and a boundary-sampling method is proposed for repeatability analysis. The main contribution of this study lies in that the proposed parallel-mechanism-equivalent-model and the boundary-sampling method greatly simplify the repeatability analysis of overconstrained kinematic couplings. Finally, the proposed methods are validated by case study.


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